基于绳索牵引的航天员机能训练机器人虚拟重力控制

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张立勋, 刘攀, 王克义. 基于绳索牵引的航天员机能训练机器人虚拟重力控制[J]. 机器人, 2010, 32(4): 454-458,463.. ZHANG Lixun, LIU Pan, WANG Keyi. Virtual-Gravity Control of a Wire-driven Cosmonaut-Enginery-Training Robot. ROBOT, 2010, 32(4): 454-458,463..

摘要为了解决在微重力条件下长期生活的航天员的运动机能下降、肌肉萎缩和肌力衰退等问题，提出了一种基于绳索牵引的柔性Stewart式航天员机能训练机器人机构模型．在对机器人系统进行力学分析的基础上，提出了一种基于单绳索力闭环的准闭环虚拟重力控制策略，并在实验样机上进行了虚拟重力控制模拟实验．研究结果表明，该控制策略是可行的，可以在人体运动过程中实现虚拟重力加载控制．该研究为在微重力环境下通过机器人实现虚拟重力加载控制奠定了理论基础．

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关键词 ：绳索牵引机器人, 虚拟重力, 力控制, 机能训练

Abstract：A wire-driven cosmonaut-enginery-training robot based on the flexible Stewart platform is presented to prevent muscle strength decline,skeletal muscle atrophy and impairment of muscle function of cosmonauts who live in the micro-gravity environment for a long time.Based on force analysis on the robot system,a quasi-closed-loop virtual-gravity control strategy is proposed based on single-wire-tension closed loop control.Finally,the simulated experiment about virtual-gravity control is made on the experimental prototype.The results show that the control strategy is feasible and can realize virtual-gravity loading control in the process of human motion.This research lays a theoretical basis for realizing virtual-gravity loading control by wire-driven robots in the microgravity environment.

Key words： wire-driven robot virtual gravity force control enginery-training

收稿日期: 2009-09-29 录用日期: 2010-02-04

TP242

基金资助:国家自然科学基金资助项目（60575053）；黑龙江省自然科学基金资助项目（42400621-1-09139）；高等学校博士学科点专项科研基金资助项目（20060217024）

通讯作者: 刘攀 E-mail: liupan0707@hrbeu.edu.cn

作者简介: 张立勋（1962- ），男，教授，博士生导师．研究领域:机器人技术，机电一体化技术．
刘攀（1980- ），男，博士生．研究领域:机器人技术．
王克义（1979- ），男，讲师．研究领域:机器人技术．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I4/454

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