Research on robot measuring system for spacesuit joint mobility

Presents the principles of the passive robot system for measuring spacesuit joint mobility. The model of passive robot is developed. Based on its special mechanical structure, the model of the flexible IVA (intravehicular activity) spacesuit's arm according to robotics is built. The inverse kinematics of a spacesuit's arm based on artificial neural networks is put forward. Also, the self-learning algorithm of the network architecture based on generalization ability is developed, which ensures that the network architecture is designed and optimized. The joint mobility of an actual IVA spacesuit is measured. Experimental results prove that the theoretical system is correct and available, and the measuring system has high preciseness.