Title :
A passive robot system for measuring spacesuit joint damping parameters
Author :
Wang, H. ; Gao, X.H. ; Jin, M.H. ; Du, L.B. ; Zhao, J.D. ; Hu, H.Y. ; Cai, H.G. ; Li, T.Q. ; Liu, H.
Author_Institution :
Robot Res. Inst., Harbin Inst. of Technol., China
Abstract :
This paper presents a novel passive robot system with 6 DOF force/torque sensor for measuring spacesuit joint damping parameters. Based on its special mechanical structure, a 3 DOF model of flexible IVA (intra vehicular activity) spacesuit joint has been built. Experimental results prove the effectiveness of the measuring principle. Potential application of the measuring system is discussed.
Keywords :
damping; force sensors; manipulators; measurement systems; degrees of freedom; force sensor; intravehicular activity; mechanical structure; passive robot system; spacesuit joint damping parameter measurement; torque sensor; Damping; Extraterrestrial measurements; Force measurement; Mechanical sensors; Medical robotics; Orbital robotics; Robot sensing systems; Sensor systems; Space technology; Torque measurement;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242091
