A Multi-Axis Force Measurement System for a Space Docking Mechanism

被引：0

作者：

Liu, Gangfeng ^{[1
]}

Li, Changle ^{[1
]}

Xie, Zenghui ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

来源：

PROCEEDINGS OF THE 3RD INTERNATIONAL CONFERENCE ON MATERIAL, MECHANICAL AND MANUFACTURING ENGINEERING | 2015年 / 27卷

关键词：

multi-axis force measurement system; 6-UPS parallel mechanism; impedance control system;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective multi-axis force measurement system is built to acquire and analyze the real time force from six separate force sensors. According to the data analysis of the measurement system, a compound contact force is used as the feedback signal to control the movement of the space docking mechanism. Ground experiment shows the good effect of the measurement system, and that the force control algorithm improves the buffer effect at the docking stage.

引用

页码：1416 / 1420

页数：5