Errors Analysis and Calibration on Measuring Mechanical Arm for EVA Spacesuit Ergonomics Research

Abstract

A combined coordinate measuring mechanical arm (CCMMA) was developed to test the operational ability of astronaut in the EVA spacesuit. The equipment measures the space region coordinates of the astronaut’s hand-reach while forces act on a handle. The homogeneous transformation equations of CCMMA are established based on Modified Denavit-Hartenberg (MDH). Measurement error was analyzed and distance error model of CCMMA was set up to improve measurement precision. The improved genetic algorithm is applied to the identification of CCMMA structure parameters. The calibration experiment of CCMMA was carried out using such model and algorithm. The result showed that with identification, the repeatability and length measurement precision were improved by 5.38 and 3.11 times respectively.