航天服手臂运动学建模及其关节力学特性的测试

介绍基于随动式测量机器人的航天服关节力学特性测量原理,根据舱内航天服手臂的特性建立基于 机器人运动学的数学模型,提出基于神经网络的逆运动学算法进行航天服关节角度的计算,并采用基于泛化能力的 网络构造算法进行神经网络拓扑结构的优化设计.通过实际舱内航天服手臂的关节力学特性测试实验验证测量原 理和计算方法.

Modeling of Spacesuit's Arm Based on Kinematics and Measurement of Mechanical Characteristics of its Joint

A method to measure the spacesuit joints' mechanical characteristics based on passive robot is given in this paper. Based on its special mechanical structure, a kinematic model of the IVA (intra-vehicular activity) spacesuit's arm is built. The inverse kinematics of spacesuit's arm based on artificial neural networks is put forward, and the constructional algorithm of the network architecture based on the generalization ability is developed. The joints' mechanical characterstics of an actual IVA spacesuit's arm is measured. Experimental results prove the effectiveness of the measuring principle and the proposed algorithm.