柔索驱动的宇航员深蹲训练机器人力控与实验研究

doi:10.13973/j.cnki.robot.2017.0733

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张立勋, 李来禄, 姜锡泽, 田文志, 宋达. 柔索驱动的宇航员深蹲训练机器人力控与实验研究[J]. 机器人, 2017, 39(5): 733-741.DOI: 10.13973/j.cnki.robot.2017.0733. ZHANG Lixun, LI Lailu, JIANG Xize, TIAN Wenzhi, SONG Da. Force Control and Experimental Study of a Cable-Driven Robot for Astronaut Deep Squat Training. ROBOT, 2017, 39(5): 733-741. DOI: 10.13973/j.cnki.robot.2017.0733.

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200N下进行深蹲实验，系统加载力标准偏差为7.52N，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．

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	张立勋
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关键词 ：宇航员, 柔索驱动, 深蹲训练, 力伺服控制, 服务机器人

Abstract：In order to eliminate or alleviate the space adaptation syndrome caused by the microgravity during manned spaceflight and to satisfy the physical exercise needs of astronauts, a deep squat training robot based on the self-designed modular cable-driven unit is proposed, and a control system is designed to assist astronauts to achieve deep squat training. Firstly, the overall structure scheme of the robot is determined by the mechanism analysis of the human body deep squat. Secondly, a force servo control strategy is designed, including the establishments of the cable force planning part, the lateral force compensation part and the passive force controller of a single cable. Finally, the experiments of a single cable force control and man-machine deep squat training are carried out to validate the training effectiveness of the robot. The inhibition effect of the surplus force is more than 50% during the experiment of a single cable force control. The standard deviation of the system loading force is 7.52 N and the dynamic loading accuracy is more than 90.2% during the deep squat experiment under 200 N. The results indicate that the robot has a rational mechanism and occupies a small room with a stable control system and a high loading accuracy. It proves the robot can assist astronauts to conduct deep squat training during long-duration spaceflights.

Key words： astronaut cable-driven deep squat training force servo control service robot

收稿日期: 2017-02-15 录用日期: 2017-05-19

TP242

基金资助:国家自然科学基金（61175128）

通讯作者: 李来禄,lilailu@hrbeu.edu.cn E-mail: lilailu@hrbeu.edu.cn

作者简介: 张立勋(1962-),男,博士,教授.研究领域:机器人技术,机电一体化技术.
李来禄(1989-),男,博士生.研究领域:机器人技术,机电一体化技术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0733 或 https://robot.sia.cn/CN/Y2017/V39/I5/733

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