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宇航员训练机器人卧推模式建模与控制

DOI: doi:10.3969/j.issn.1006-7043.2011.09.015

Keywords: 宇航员训练, 力控制, 并联柔索机器人, 卧推??

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Abstract:

针对微重力环境下宇航员的训练问题,设计了一种基于柔索驱动的宇航员训练机器人,帮助宇航员在失重状态下完成卧推训练.在对卧推训练运动特性进行分析的基础上,完成了机器人的构型设计.在该机器人构型的基础上,给出了机器人的可控工作空间并建立了柔索牵引力规划数学模型.针对控制系统的力控制任务,将基于位置的力外环控制策略应用于并联柔索机器人控制系统的设计.最后对人机系统模型进行了仿真分析,仿真结果表明,该控制策略能够有效地跟踪卧推运动并完成动态负载力的控制.

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