[A robot measurement system for spacesuit joint torque].

摘要

OBJECTIVE: To measure the joint torque of spacesuit so as to evaluate its dynamic force/torque performance. METHOD: A method for measuring the spacesuit joint torque by use of robot technology was proposed in this paper. The design of the measuring strategy and measuring robot was put forward and a mathematical model of the system was given. Then the working space of the robot was analyzed. RESULT: The robot designed is light, compact, easy to operate, and has a large working space. Experimental results demonstrated the effectiveness of the measuring principle and the reliability of the measuring system. CONCLUSION: The system can satisfy the requirements of the spacesuit joint torque measurement.