Cable drive robot device for simulating zero-gravity and low-gravity environment

Abstract

The invention provides a cable drive robot device for simulating the zero-gravity or low-gravity environment. The cable drive robot device comprises a basic frame, cables, cable drive units, cable guide devices, a simulation loading platform, sensors and a control system. The eight cables are arranged in a spatially-symmetric mode, wherein four cables are arranged at the upper portion and the other four cables are arranged at the lower portion. The cables are lengthened or shortened through the drive units driven by motors according to instructions of the control system. The control system conducts closed-loop or semi-closed-loop control over the length and the force of the cables according to force and displacement data given by the sensors, so that movement of the simulation loading platform in the zero-gravity or low-gravity environment is simulated. Meanwhile, one or more cables can be selected and used for being overlapped to apply external interference force. According to the experiment device, the defect that work space is limited or dynamism is insufficient in a traditional simulation method is overcome and six-freedom-degree movement control and stress simulation of the simulation loading platform in the zero-gravity or low-gravity environment can be achieved.

Description

technical field [0001] The invention belongs to the field of zero-gravity and low-gravity environment simulation equipment, in particular to a cable-driven robot device for simulating zero-gravity and low-gravity environments. Background technique [0002] The zero-gravity and low-gravity environment simulation test equipment can make the tested object in a weightless or low-gravity state on the earth. It has a wide demand in the aerospace field. It is mainly used to assist the design of aerospace vehicles and test the various performance adaptability of aerospace vehicles during tests. , pilot training, etc. The currently used zero-gravity and low-gravity simulation methods and equipment mainly include the following: (1) parabolic flight weightlessness simulation; (2) buoyancy balance gravity method; (3) rigid parallel mechanism simulation; (4) cable mechanism simulation equipment. [0003] The parabolic flight weightlessness simulation method is to use an airplane or a sm...

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Problems solved by technology

[0008] In order to overcome the above-mentioned shortcoming of the prior art, the object of the present invention is to provide a kind of cable-driven robot device of simulating zero-gravity and low-gravity environment, overcome above-mentioned zero-gravity and low-gravity simulation technology can not be used for simulating aircraft in space 6 degrees of freedom Insufficient motion state and plume disturbance, the position and orientation of the simulated load platform and the tension of each cable are obtained by collecting sensor data analysis, and the length and tension of each cable are feedback controlled by the control algorithm in the control system, providing A method to simulate the force and 6-degree-of-freedom movement of an object in a zero-gravity or low-gravity environment in a large-scale working space, and realize the force of the fixed vector force of the object at a certain moment, the force of the determined direction, and the interference during movement force simulation

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