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上躯干结构是航天服的基础部件,对服装的适体性具有直接影响。上躯干的适体性设计分为被动适体和主动适体,其中主动适体可实现软式上躯干结构的形态调节,获得最大程度的适体效果。应用Stewart平台原理开展软式上躯干主动适体方法研究。首先,探讨分析了Stewart平台的特点与运动学;其次,将Stewart平台控制原理应用于软式上躯干主动适体设计,提出了针对肩法兰的主动适体方法;再次,分析了主动适体方法的运动学,建立了主动适体方法的数学模型,并通过模型计算了主动适体方法的性能;最后,搭建了软式上躯干主动适体样机,开展了主动适体方法实验。研究结果表明,建立的针对肩法兰的软式上躯干结构主动适体方法可以有效地调节肩法兰的空间位置、角度,满足上躯干的主动适体要求,证明了应用Stewart平台建立主动适体方法的可行性。研究结果为未来航天服的适体性设计提供了参考。
The upper torso structure is the basic component of a spacesuit and has a direct effect on the fit of the garment. The design of the upper torso is divided into passive aptamers and active aptamers, in which the active aptamers can achieve the morphological adjustment of the soft upper torso structures and obtain the maximum aptamer effect. Application of the principle of Stewart platform to develop a soft upper body active aptamer method. First of all, the characteristics and kinematics of the Stewart platform are analyzed and analyzed. Secondly, the Stewart platform control principle is applied to the design of the soft upper body active aptamer. An active aptamer approach to the shoulder flange is proposed. Thirdly, the active aptamer The kinematics of the method is used to establish the mathematical model of the active aptamer method. The performance of the active aptamer method is calculated through the model. Finally, a prototype of a soft upper torso active aptamer is built and an active aptamer method experiment is carried out. The results show that the method of active aptamer with soft upper torso structure for shoulder flange can effectively adjust the spatial position and angle of shoulder flange and meet the requirements of active apron on the upper torso. It is proved that the application of Stewart platform to proactive The feasibility of the body method. The results provide a reference for the future suit of space suit.