Prototype Design and Performance Tests of Beijing Astronaut Robot
Abstract
:Featured Application
Abstract
1. Introduction
2. The Mechanical Structure and Test System Design of the Robot
2.1. Design Indicators
- The total mass of the robot is less than 30 kg;
- The total degrees of freedom (DOF) of the robot is no less than 12;
- The robot has at least three arms, each arm has no less than 4-DOF;
- The robot arm length is not more than 700 mm.
- Walking mode, the stride of the robot is not less than 30 cm, the robot movement speed is not less than 0.1 m/s;
- Rolling mode, the robot's stride is not less than 60 cm, the robot movement speed of not less than 0.2 m/s; and
- Sliding mode, the moving speed of the robot is not less than 0.5 m/s.
- Visual measurement accuracy not less than 1 mm in the range of 200 mm;
- End effector’s positioning accuracy within 2 mm;
- End effector’s force control accuracy within 2 N.
2.2. Structural Design and Key Technologies
2.3. Testing Layout
3. Testing Results
3.1. Motion Performance Test of A Single Arm
3.2. System Simulation Test
3.3. Motion Performance Test of the Robot
4. Discussion and Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Sun, Z.; Li, H.; Jiang, Z.; Song, Z.; Mo, Y.; Ceccarelli, M. Prototype Design and Performance Tests of Beijing Astronaut Robot. Appl. Sci. 2018, 8, 1342. https://doi.org/10.3390/app8081342
Sun Z, Li H, Jiang Z, Song Z, Mo Y, Ceccarelli M. Prototype Design and Performance Tests of Beijing Astronaut Robot. Applied Sciences. 2018; 8(8):1342. https://doi.org/10.3390/app8081342
Chicago/Turabian StyleSun, Zeyuan, Hui Li, Zhihong Jiang, Zhenzi Song, Yang Mo, and Marco Ceccarelli. 2018. "Prototype Design and Performance Tests of Beijing Astronaut Robot" Applied Sciences 8, no. 8: 1342. https://doi.org/10.3390/app8081342