Abstract
In order to simulate ultra-large moment of inertia required by space station manipulator without mechanism interfere, a load equivalent rotational inertia simulation method based on parallel mechanism configuration and planet-gear increaser is proposed. According to the principle of equivalent dynamics theory, mathematic model of equivalent moment of inertia of shoulder joint and wrist joint is established. This method proves effective by mechanism and numerical simulation under different operating conditions, and relative simulation errors of inertia simulator meet allowable precision requirements with smaller mass and volume. Copyright © 2015 Binary Information Press.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call