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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 expensive, and the simulation time is limited by the free fall time and cannot be simulated for a long time

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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Embodiment Construction

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

[0016] combine Figure 1 to Figure 5 , a kind of simulated microgravity environment carrying training device of the present invention (hereinafter referred to as " training device "), comprise the main support rod 1 that is used to suspend training device, be used to install the pulley platform 2 of friction compensating motor and pulley, pulley Platform counterweight 3, pulley 4, wire rope 5, simulated load 6, multi-dimensional force sensor 7, handle 8, simulated load counterweight 9, handle counterweight 10, encoder 11, friction compensation motor 12, motor brake 13 . The main support bar on the pulley platform bears all the gravity (all mass) of the training device. After the power is turned on, the friction compensation motor is in working condition to offset the friction torque generated by the pulley shaft and supporting bearin...

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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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