Nine-rope driving robot device for simulating zero gravity and low gravity

Abstract

A nine-rope driving robot device for simulating zero gravity and low gravity comprises a foundation framework, ropes, a rope driving unit, a rope guiding device, a simulation load platform, a sensor and a control system. According to the nine-rope driving robot device for simulating the zero gravity and the low gravity, a nine-rope redundant driving scheme is adopted, the nine ropes are distributed in a mode with six ropes being arranged at the top and three ropes being arranged at the bottom; extension and shortening of the ropes are achieved through a driving unit which is driven by a motor according to a command of the control system; the control system achieve closed-loop or semi-closed-loop control on the length and force of every rope according to the force and pose position data from the sensor; meanwhile the upper six ropes can be adopted to control and simulate the pose position and movement of a load platform, the lower three ropes perform force tensioning or compensation control, and accordingly the nine-rope driving robot device for simulating the zero gravity and the low gravity has the capability of stimulating six degrees of freedom under the zero gravity or low gravity environment in large working space and meanwhile can apply the distributing force in a superposition mode through the lower three ropes or mote ropes. The nine-rope driving robot device for simulating the zero gravity and the low gravity is good in isotropy performance and has an application potential in other fields such as rehabilitation equipment.

Description

technical field [0001] The invention belongs to the field of zero-gravity and low-gravity environment simulation equipment, in particular to a nine-cable-driven robot device for simulating zero-gravity and low-gravity. Background technique [0002] When detecting extraterrestrial stars such as the moon and Mars, if the probe needs to collect samples from the star and return to the earth, the probe needs to be launched on the surface of the star. This kind of launch faces a launch environment in a low-gravity environment , and a series of technical problems such as insufficient support rigidity, uncertain attitude, and plume interference require a large number of analysis calculations and experimental simulations. Therefore, a set of reasonable simulation methods and simulation devices is very necessary. [0003] There are five main types of existing zero-gravity and low-gravity environment simulation experiment equipment or simulation technology: weightless flight or fall si...

AI Technical Summary

Problems solved by technology

However, the existing cable mechanism dragging simulation device can only simulate the motion state and force in the vertical direction, and cannot be used for multi-degree-of-freedom motion, especially the simulation of motion caused by engine thrust that may appear in all directions

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