A Multi-Axis Force Measurement System for a Space Docking Mechanism

DOI

10.2991/ic3me-15.2015.273How to use a DOI?

Keywords

multi-axis force measurement system, 6-UPS parallel mechanism, impedance control system.

Abstract

In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective multi-axis force measurement system is built to acquire and analyze the real time force from six separate force sensors. According to the data analysis of the measurement system, a compound contact force is used as the feedback signal to control the movement of the space docking mechanism. Ground experiment shows the good effect of the measurement system, and that the force control algorithm improves the buffer effect at the docking stage.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Gangfeng Liu
AU  - Changle Li
AU  - Zenghui Xie
PY  - 2015/08
DA  - 2015/08
TI  - A Multi-Axis Force Measurement System for a Space Docking Mechanism
BT  - Proceedings of the 3rd International Conference on Material, Mechanical and Manufacturing Engineering
PB  - Atlantis Press
SP  - 1416
EP  - 1420
SN  - 2352-5401
UR  - https://doi.org/10.2991/ic3me-15.2015.273
DO  - 10.2991/ic3me-15.2015.273
ID  - Liu2015/08
ER  -