CAJ | 학술논문

地面微重力补偿实验系统越来越多地应用于智能助力设备上。ITER 装置内受损零件的更换由操作员通过遥操作机器人主机械手操控从机械手完成，为了使操作员操控省力，需要对主机械手进行重力补偿。基于吊丝悬架的微重力补偿方案，设计了一种吊丝摆角测量装置，能够方便有效地实现吊丝摆角的测量。首先对系统进行总体设计，然后对吊丝摆角测量装置进行理论计算及 ADAMS 运动学仿真，得出了该装置对吊丝摆角测量的放大倍数，接着设计了系统的控制方案，最后对系统进行相关补偿实验，验证了该设计的可行性。
지면미중력보상실험계통월래월다지응용우지능조력설비상。ITER 장치내수손령건적경환유조작원통과요조작궤기인주궤계수조공종궤계수완성，위료사조작원조공성력，수요대주궤계수진행중력보상。기우조사현가적미중력보상방안，설계료일충조사파각측량장치，능구방편유효지실현조사파각적측량。수선대계통진행총체설계，연후대조사파각측량장치진행이론계산급 ADAMS 운동학방진，득출료해장치대조사파각측량적방대배수，접착설계료계통적공제방안，최후대계통진행상관보상실험，험증료해설계적가행성。
In recent years,the ground micro-gravity compensation experiment system is increas-ingly used in intelligent assist devices.The replace-ment of the damaged parts inside ITER device is completed by the teleoperation robot.In order to reduce the operation force of the main manipula-tor,the need for the main manipulator for micro-gravity compensation should be concerned.This paper proposes a kind of microgravity compensa-tion system based on the suspension spring and de-signs an angular measuring device to measure angle of the suspension spring effectively.Firstly,the o-verall design for the system is done.Secondly theo-retical calculation and ADAMS kinematics simula-tion are carried out to establish the mathematical relationship of the angle of suspension spring and the angular measuring device.Thirdly the control strategy of the system is proposed.The feasibility of the system is verified by the finally compensa-tion experiment.