排序方式: 共有5条查询结果,搜索用时 15 毫秒
1
1.
In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements. 相似文献
2.
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... 相似文献
3.
4.
5.
1