A nine-rope driving robot device for simulating zero gravity and low gravity comprises a foundation framework, ropes, a rope driving unit, a rope guiding device, a simulation load platform, a sensor and a control system. According to the nine-rope driving robot device for simulating the zero gravity and the low gravity, a nine-rope redundant driving scheme is adopted, the nine ropes are distributed in a mode with six ropes being arranged at the top and three ropes being arranged at the bottom; extension and shortening of the ropes are achieved through a driving unit which is driven by a motor according to a command of the control system; the control system achieve closed-loop or semi-closed-loop control on the length and force of every rope according to the force and pose position data from the sensor; meanwhile the upper six ropes can be adopted to control and simulate the pose position and movement of a load platform, the lower three ropes perform force tensioning or compensation control, and accordingly the nine-rope driving robot device for simulating the zero gravity and the low gravity has the capability of stimulating six degrees of freedom under the zero gravity or low gravity environment in large working space and meanwhile can apply the distributing force in a superposition mode through the lower three ropes or mote ropes. The nine-rope driving robot device for simulating the zero gravity and the low gravity is good in isotropy performance and has an application potential in other fields such as rehabilitation equipment.
Nine-rope driving robot device for simulating zero gravity and low gravity
2015-04-01
Patent
Electronic Resource
English
IPC: | B64G Raumfahrt , COSMONAUTICS |
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