A variable mass simulation device and method for motion operation

Abstract

The invention provides a variable mass simulation device for motion operation and a simulation method based on the device, belonging to the technical field of mass simulation, the device comprising asupport system frame, a traction system, a simulation particle and an operation end. At work, a trainer can feel the corresponding load at the operate end by inputting the simulation quality through the upper computer. The basic method is to solve the cable tension based on the particle motion state of the manipulator by using the space sink force system and the generalized inverse solution of equations, and to control each cable element by force closed-loop control. The support system frame is constructed from profiles. The variable mass point to be simulated in the device is pulled by four rope units at the same point. Each rope unit is connected to the winch on the motor through the tension sensor and the acceleration sensor through the passing wheel fixed on the frame. The invention can be used for simulating a variable mass of a particle in a space, so as to realize some simulation training which ignores the volume but requires the working condition of the mass change.

Description

technical field [0001] The invention belongs to the technical field of mass simulation, and in particular relates to a motion-operated variable mass simulation device and a simulation method based on the device. Background technique [0002] Today, many working environments require different loads or masses, traditionally often accompanied by frequent replacement of equipment or volume issues. For example, with the development of science and changes in people's living environments, physical exercise has become a demand for people. However, weight-bearing is often required during fitness, and frequent replacement of weight-bearing equipment has become a major problem; people will not be able to train in space or other weightless environments; There are also some working environments that are not suitable for large volumes but require a certain quality or load, and people are often helpless. Design a motion-operated variable-mass simulation device to train trainers with adjus...

AI Technical Summary

Problems solved by technology

[0003] At present, the relevant technologies and methods at home and abroad are mainly in the aspect of gravity simulation, and the devices introduced by them rarely adopt the form of rope traction structure.

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