Ground experimental system of space robot arm

The ground experimental system was developed to verify the functions of the reconfigurable space robot arm. The system is designed based on air bearings. Without changing robot arm, the method can easily realize the 3D motions of the robot arm. Using this system, some functions of the space robot arm can be verified, such as total power consumption, kinematics and inverse kinematics arithmetic, and position and orientation accuracy in 3D space. Based on coordinate measuring machine (CMM), a new method easy to manipulate is put forward to measure the position and orientation accuracy. According to the method, a ground experimental system of 6-DOF space robot arm was developed. Through the system, the performances of the space robot arm are acquired, including total power consumption, position accuracy and orientation accuracy, all of which satisfy the technical requirements.