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为了消除或减轻载人航天中失重引起的宇航员空间适应性综合症并满足太空中宇航员体育锻炼的需要,利用自行开发的模块化柔索驱动单元搭建了深蹲训练机器人,并设计了其控制系统从而辅助宇航员在太空中开展深蹲训练.首先,分析了人体深蹲训练机理,确定了机器人总体结构方案;其次,设计了机器人力伺服控制策略,包括柔索牵引力规划环节、横向力补偿环节及单柔索被动式力控制器的建立;最后,为了验证机器人训练效果,开展了单柔索力控制实验以及人机深蹲训练实验.单柔索力控实验中,多余力的抑制效果达到50%以上.在200 N下进行深蹲实验,系统加载力标准偏差为7.52 N,动态精度在90.2%以上.实验结果表明该机器人构型合理且占用空间小,控制系统稳定,加载精度较高,能够辅助宇航员在太空飞行中开展深蹲训练.
In order to eliminate or alleviate the space-adaptive syndrome of astronauts caused by weightlessness in manned space and to meet the needs of astronauts in space, this paper builds a squat training robot by using the self-developed modular cable driver unit, Control system to assist astronauts in squat training in space.Firstly, the squat training mechanism of human body was analyzed and the robot’s overall structure scheme was determined. Secondly, the robot servo control strategy was designed, including the flexible cable traction planning, lateral force Compensation and the establishment of single flexible cable force controller.Finally, in order to verify the effect of robot training, a single flexible cable force control experiment and a man-machine squat training experiment were carried out.In single flexible cable force control experiment, Reaching more than 50% .The squat experiment under 200 N showed that the standard deviation of loading force was 7.52 N and the dynamic precision was above 90.2% .The experimental results show that the robot has reasonable configuration and small occupation space, the control system is stable and the loading accuracy is better High, to assist astronauts in space flight squat training.