柔索驱动的宇航员深蹲训练机器人力控与实验研究

发布时间：2018-05-13 18:52

本文选题：宇航员 + 柔索驱动　；参考：《机器人》2017年05期

【摘要】：为了消除或减轻载人航天中失重引起的宇航员空间适应性综合症并满足太空中宇航员体育锻炼的需要,利用自行开发的模块化柔索驱动单元搭建了深蹲训练机器人,并设计了其控制系统从而辅助宇航员在太空中开展深蹲训练.首先,分析了人体深蹲训练机理,确定了机器人总体结构方案;其次,设计了机器人力伺服控制策略,包括柔索牵引力规划环节、横向力补偿环节及单柔索被动式力控制器的建立;最后,为了验证机器人训练效果,开展了单柔索力控制实验以及人机深蹲训练实验.单柔索力控实验中,多余力的抑制效果达到50%以上.在200 N下进行深蹲实验,系统加载力标准偏差为7.52 N,动态精度在90.2%以上.实验结果表明该机器人构型合理且占用空间小,控制系统稳定,加载精度较高,能够辅助宇航员在太空飞行中开展深蹲训练.
[Abstract]:In order to eliminate or reduce the space adaptability syndrome caused by weightlessness in manned space and to meet the need of the astronauts' physical exercise in space, a squatting training robot was built by using the self-developed modular flexible cable driving unit. And designed its control system to assist astronauts in space squat training. Firstly, the mechanism of human body squat training is analyzed, and the overall structure of robot is determined. Secondly, the robot force servo control strategy is designed, including cable traction planning. The establishment of lateral force compensation link and passive force controller with single flexible cable. Finally, in order to verify the robot training effect, single flexible cable force control experiment and man-machine squat training experiment are carried out. In the experiment of single flexible cable force control, the suppressive effect of redundant force is more than 50%. The squat test under 200 N shows that the standard deviation of loading force is 7.52 N and the dynamic precision is over 90.2%. The experimental results show that the robot has the advantages of reasonable configuration, small space occupation, stable control system, high loading precision, and can assist astronauts to carry out squat training in space flight.
【作者单位】：哈尔滨工程大学机电工程学院;哈尔滨工程大学工程训练中心;
【基金】：国家自然科学基金(61175128)
【分类号】：TP242

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