Rigid-flexible coupling type microgravity environment simulation training device

Abstract

The invention relates to a rigid-flexible coupling type microgravity environment simulation training device, which comprises a fixed platform, a flexible cable driving unit, an end effector bracket, an end effector, a flexible cable, a transmission mechanism between a servo motor and the flexible cable, a ball screw and a ball screw nut, and a force sensor bracket adjustable counterweight to the end effector, static balance and dynamic balance of the end effector on the X axis, the Y axis and the Z axis are achieved, the motion mode of the flexible cable is controlled to be linear reciprocating motion, under the condition that it is guaranteed that the variable length of the flexible cable is enough, the structure is simple, the control precision of the flexible cable is easily improved, two force measuring sensors at different positions are arranged on the driving unit, mutual compensation is achieved, and the force measuring precision is improved. In a simulated microgravity environment, force interaction control between a virtual task object and an astronaut through an end effector is realized.

Description

technical field [0001] The invention relates to the field of microgravity environment simulation training, in particular to a rigid-flexible coupling type microgravity environment simulation training device. Background technique [0002] The training device used for astronauts' microgravity environment simulation collaborative operation has high precision, simple use, convenient disassembly and assembly, and good flexibility, but its fixed platform does not have good vibration stability. The mainstream flexible cable control mode of the flexible cable drive unit is Roll wound. The control accuracy of this flexible cable control method is relatively low. The variable length of the flexible cable depends on the diameter and length of the reel. Generally, the working space of the end effector can be made large, but its mechanical structure is relatively complicated, and it is difficult to control its size. , its vibration stability needs to be considered separately. In the ma...

AI Technical Summary

Problems solved by technology

The control accuracy of this flexible cable control method is relatively low. The variable length of the flexible cable depends on the diameter and length of the reel. Generally, the working space of the end effector can be made large, but its mechanical structure is relatively complicated, and it is difficult to control its size. , need to consider its vibration stability separately

In the main force control system of a cable-driven parallel robot, the feedback part is the tension of the cable on the cable drive unit or on the end effector. It is difficult to calculate the force on the end effector by the change of cable tension and the algorithm Complicated and requires high comprehensive computing power of the upper computer

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