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

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...

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