DocumentCode
396952
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
Volume
1
fYear
2003
fDate
20-24 July 2003
Firstpage
652
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN
0-7803-7759-1
Type
conf
DOI
10.1109/AIM.2003.1225171
Filename
1225171
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