Title :
A six DOF passive robot system for spacesuit measurement
Author :
Jin, M.H. ; Zhao, J.D. ; Hu, H.Y. ; Du, L.B. ; Gao, X.H. ; Li, T.Q. ; Zhao, Y.J. ; Liu, H.
Author_Institution :
Inst. of Robor Res., Harbin Inst. of Technol., China
Abstract :
This paper presents a novel passive robot system with 6 DOF force/torque sensors for measuring spacesuit joint damping parameters. The principle is based on robotics (kinematics and statics). Firstly the models of a 3 DOF flexible IVA (intra vehicular activity) spacesuit arm and the passive robot have been built. And then, a new method of solving the inverse kinematics of the spacesuit is proposed. The simulation on the SGI workstation and experimental results prove the effectiveness of the measuring system is also discussed.
Keywords :
force sensors; robot kinematics; damping parameters; force sensor; intra vehicular activity; inverse kinematics; passive robot system; robotics; spacesuit arm; spacesuit measurement; torque sensor; Damping; Extraterrestrial measurements; Force measurement; Force sensors; Kinematics; Medical robotics; Orbital robotics; Robot sensing systems; Space technology; Torque measurement;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225171
