[Principles and experimental analysis of a measuring system for measuring spacesuit joint's damping parameters].
OBJECTIVE
To measure the damping parameters of the spacesuit joint.


METHODS
The principles of the passive robot system for measuring spacesuit joint's damping parameters were presented. Basing on its special mechanical structure, a 3 DOF model of the flexible IVA (intra-vehicular activity) spacesuit's sleeve was built. The optimal approximation of inverse calculation based on 6 dimension space interval was described. The damping parameters of an actual IVA spacesuit's sleeve were measured on the actual testbed. Also, the potential application of the measuring system was discussed.


RESULTS
The model of spacesuit sleeve and the forward/inverse kinematics were proved by experimental measurements and real time 3D simulation.


CONCLUSIONS
The principles and the proposed method of the measurement were testified.
Wang
Hao
H
Robot Research Institute, Harbin Institute of Technology, Harbin, China. wanghao@robinst.hit.edu.cn
Jin
Ming-he
MH
Liu
Hong
H
Gao
Xiao-hui
XH
Li
Tan-qiu
TQ
Zhao
Yong-jun
YJ
D003198:Computer Simulation; D004551:Elbow Joint; D006801:Humans; D007596:Joints; D018583:Pliability; D012371:Robotics; D012785:Shoulder Joint; D013026:Space Flight / Q000295:instrumentation*; D019442:Space Suits; D019415:Torque; D014955:Wrist Joint