多模式柔索驱动航天员训练机器人力控制  

Force Control of Multimodal Cable Driven Astronaut Training Robot

作　　者：邹宇鹏[1,2] 张立勋[1] 李来禄 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001 [2]中国石油大学(华东)机电工程学院,青岛266580

出　　处：《宇航学报》2015年第5期566-573,共8页Journal of Astronautics

基　　金：国家自然科学基金(61175128)

摘　　要：为解决长期在失重环境下生活和工作的航天员的康复训练问题,针对现有的航天员训练设备功能单一、训练效果不理想的现状,研制了多模式柔索驱动航天员训练机器人。基于模块化、可重构的机器人构型,通过机器人模拟重力环境的负载特征,把相应的载荷施加到人体上,实现航天员在失重环境下进行跑步、卧推和负重深蹲等体育训练,帮助航天员减轻或者克服空间适应综合征带来的不利影响;在此基础上提出一种机器人双闭环力控制策略,人机跑步训练实验结果表明,本文研制的多模式航天员训练机器人构型合理,控制策略有效,可以辅助在失重环境下生活和工作的航天员开展体育训练。To help the astronauts who live and work in the microgravity environment for a long-time do rehabilitation training, a mnltimodal cable driven astronaut training robot is presented. To simulate the load characteristics of the gravity environment by use of the robot and load the force on human body, the robot can realize multiple physical exercises including running, bench press and deep squat, which can help the astronauts to alleviate the adverse impact caused by the space adaptation syndrome. The current training devices for astronauts have problems such as singular function and unsatisfactory training effect. With the aim to solve these problems, a modular reconfigurable robot configuration is proposed. A dual-closed-loop control strategy is designed. The results of the running experiment verify that the configuration of the robot is reasonable and the control strategy is effective. The robot can assist the physical training of astronauts who live and work in the microgravity environment.

关 键 词：航天员训练机器人 柔索驱动 被动式力伺服 力控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]