Development of Combined Coordinate Measuring System for EVA spacesuit operational ability

The 3-D region of operational ability of astronaut's hands in spacesuit is needed for Extra-vehicular activity (EVA). A Combined Coordinate Measuring System (CCMS) to test the operation ability of people in the spacesuit was developed. The CCMS was designed with a 3-jointed mechanical measuring arm, with combined force-torque sensors and magnetic brakes installed in every joint. The CCMS measured the reachable region and operational limit region of astronaut hands in spacesuit. Mathematical model of CCMS was established to transform the signals to the data required, with errors analyzed and the system calibrated. All tests were aided by computer, and data obtaining were processed by software developed based on OpenGL and Matlab.