Errors Analysis and Calibration on Measuring Mechanical Arm for EVA Spacesuit Ergonomics Research

Abstract:

A combined coordinate measuring mechanical arm (CCMMA) was developed to test the operational ability of astronaut in the EVA spacesuit. The equipment measures the space region coordinates of the astronaut’s hand-reach while forces act on a handle. The homogeneous transformation equations of CCMMA are established based on Modified Denavit-Hartenberg (MDH). Measurement error was analyzed and distance error model of CCMMA was set up to improve measurement precision. The improved genetic algorithm is applied to the identification of CCMMA structure parameters. The calibration experiment of CCMMA was carried out using such model and algorithm. The result showed that with identification, the repeatability and length measurement precision were improved by 5.38 and 3.11 times respectively.

• Periodical: Key Engineering Materials (Volumes 474-476)
• Pages: 852-857
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.474-476.852
• Online since: April 2011
• Authors: Jian Wen, Lei Zhou, Chun Zhang, Tong Fen Liang
• Keywords: Calibration, Error Analysis, Measuring Mechanical Arm, Spacesuit

References

[1] Qianxiang ZHOU, The Work Efficiency of Spacesuit for EVA and Its Research Way, Aerospace shanghai, 2005. 3 pp.47-51.

[2] Lei Zhou, Shuhui Xu, Minglian Zhou. Measurement technology of operation region of EVA spacesuit，Proceeding of 2nd International Conference on Industrial and Information Systems, IIS 2010. July 11, 2010 Dalian, China: 384-389.

DOI: 10.1109/indusis.2010.5565829

[3] Whitney D E, Rourke J M. Industrial Robot Forward Calibration Method and Result, ASME Journal of Dynamic Systems, Measurement, and Control 1985, 108(3) pp.1-8.

[4] Linqi HOU, Shuhong FENG, Position error model of robot using 5 parameters based on distance accuracy, Robot Technique and Application, 2002 2(2) pp.31-35.

[5] Pingping WANG, Yetai FEI, Ping SHANG, et al, Parameters identification of a flexible coordinate measuring machine, Transactions of the Chinese Society for Agricultural Machinery, 2007 38(7) pp.129-132.

[6] Guanbin GAO, Wen WANG, Keng LIN, Zichen CHEN, Parameter identification based on modified annealing algorithm for articulated arm CMMs, Optics and Precision Engineering 2009 17(10) pp.2499-2504.

[7] Santolaria J, Anguilar J J, Yague J A, et al. Kinematic parameter estimation technique for calibration and repeatability Improvement of articulated arm coordinate measuring machines Precision Engineering, 2008 32(4) pp.251-268.

DOI: 10.1016/j.precisioneng.2007.09.002

[8] Yonggui ZHANG, Yumei HUANG, Feng GAO, Robotic Kinematics Parameters Error Identification Based on Genetic Algorithm, Transactions of the Chinese Society for Agricultural Machinery, 2008 39(9) pp.153-157.