Measurement technology of operation region of EVA spacesuit
Operation ability of astronaut in spacesuit is a key parameter in Extra-vehicular activities. The operation region of people in the spacesuit was tested by 3-jointed mechanical measuring arm, which combined force-torque sensors in the handle, and magnetic brakes installed in every joint. Mathematical model of the measuring arm was established to transform the signals of sensors to the data required. The errors were analyzed and the system was calibrated and compensated. All tests were aided by computer, and data obtained were processed by software developed based on VC++, OpenGL and Matlab. An exact 3- D operation region of left hand, right hand and both hands was obtained by a method of reverse engineering. The measurement supplied solid support in space engineering design.
A kinematic calibration method and its application to eva spacesuit mobility measuring mechanical arm
A space suit mobility measuring mechanical arm was developed to test astronauts’ capabilities in space-suited extravehicular activity (EVA). The equipment is based on combined coordinate measuring mechanical arm (CCMMA) to measure the space region coordinate of astronauts’ reach envelope and work envelope. For improving measurement precision, the distance error model of CCMMA was set up on the basis of Modified Denavit-Hartenberg (MDH). A kinematic calibration method was presented on the basis of Genetic Simulated Annealing Algorithm (GSAA). Calibration experiments were carried on using the method. Results prove the effectiveness of the method and the improvement of accuracy to the equipment.
Preparing EMU for Space Station.
In today's fiscally constrained environment, it can be expected that systems designed for one space program will increasingly be used to support other programs. The example of the U.S. extravehicular mobility unit (EMU), designed for use with the Space Shuttle, and now part of the baseline for the International Space Station (ISS) program, illustrates the adaption process. Certifying the Shuttle's EMU for use aboard ISS requires addressing three fundamental issues: Identifying new ISS requirements to be imposed on the EMU. Extending Shuttle's EMU on-orbit service interval to meet ISS's longer missions. Certifying Shuttle's EMU to meet new environments unique to ISS. Upon completion of the certification process, Shuttle's EMU will meet all requirements for supporting both the Shuttle and ISS program. This paper discusses the processes for addressing these issues and progress to date in achieving resolution.