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[Principles and experimental analysis of a measuring system for measuring spacesuit joint's damping parameters]
Hao Wang1, Ming-he Jin, Hong Liu
1Robot Research Institute, Harbin Institute of Technology, Harbin, China. wanghao@robinst.hit.edu.cn
Objective:
To measure the damping parameters of the spacesuit joint.
Method:
The principles of the passive robot system for measuring spacesuit joint's damping parameters were presented. Basing on its special mechanical structure, a 3 DOF model of the flexible IVA (intra-vehicular activity) spacesuit's sleeve was built. The optimal approximation of inverse calculation based on 6 dimension space interval was described. The damping parameters of an actual IVA spacesuit's sleeve were measured on the actual testbed. Also, the potential application of the measuring system was discussed.
Result:
The model of spacesuit sleeve and the forward/inverse kinematics were proved by experimental measurements and real time 3D simulation.
Conclusion:
The principles and the proposed method of the measurement were testified.
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