Device for simulating microgravity environment object carrying training and friction torque compensation method thereof

A technology for simulating microgravity and friction, which is applied in the simulation devices of space navigation conditions, transportation and packaging, and space navigation equipment. , the effect of efficient training

Active Publication Date: 2021-03-16
HARBIN ENG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Motion method simulation can be very close to the real microgravity environment, but the cost is expen

Method used

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  • Device for simulating microgravity environment object carrying training and friction torque compensation method thereof
  • Device for simulating microgravity environment object carrying training and friction torque compensation method thereof
  • Device for simulating microgravity environment object carrying training and friction torque compensation method thereof

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Example Embodiment

[0015] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0016] combine Figure 1 to Figure 5 , a simulated microgravity environment handling training device (hereinafter referred to as "training device") of the present invention includes a main support rod 1 for suspending the training device, a pulley platform 2 for installing a friction compensation motor and a pulley, a pulley Platform counterweight 3, pulley 4, wire rope 5, dummy load 6, multi-dimensional force sensor 7, handle 8, dummy load counterweight 9, handle counterweight 10, encoder 11, friction compensation motor 12, motor brake 13 . The main support rod on the pulley platform bears the full gravity (all mass) of the training device. After power-on, the friction compensation motor is in working state, which offsets the friction torque generated by the pulley shaft and the supporting bearing, and eliminates the impact of the fri...

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Abstract

The invention provides a device for simulating microgravity environment object carrying training and a friction torque compensation method thereof. The device comprises a main supporting rod used forhanging, a pulley platform arranged at the lower end of the main supporting rod, a motor brake, a friction force compensation motor, a pulley arranged in the pulley platform, a pulley platform balancing weight arranged on the other side of the pulley platform, and a steel wire rope arranged on the pulley, wherein the motor brake and the friction force compensation motor are arranged on one side ofthe pulley platform. A shaft where the pulley is located is connected with an output shaft of the motor brake through a coupler, an encoder is arranged on the friction force compensation motor, a simulation load balancing weight and a handle balancing weight are arranged at one end of the steel wire rope, a simulation load is arranged at the other end, and a multi-dimensional force sensor is arranged on the simulation load and connected with a handle. The friction force compensation motor is used for generating a motor compensation torque for counteracting a pulley shaft friction torque, changing the motor compensation torque according to different simulated load masses and eliminating the influence of a gravity on a vertical movement operation force.

Description

technical field [0001] The invention relates to a device for simulating object handling training in a microgravity environment and a friction moment compensation method thereof, belonging to the field of ground simulation. Background technique [0002] In the 21st century, major aerospace powers such as the United States, Russia, and China have successively adjusted the development direction of manned spaceflight and formulated new space development strategies. The aerospace industry of various countries, especially the manned spaceflight industry, is developing vigorously. my country's manned space station plans to complete in-orbit assembly and put into operation around 2024. At that time, astronauts will have more space operation tasks. This requires better ground training technology to support astronauts in ground simulated microgravity training, so that astronauts are fully prepared to complete various tasks in a microgravity environment. Although astronauts can't fe...

Claims

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Application Information

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IPC IPC(8): B64G7/00
CPCB64G7/00
Inventor 张立勋王振汉薛峰陈旭阳
Owner HARBIN ENG UNIV
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