Research On The Control Of Cable Driving Robot Used For Virtual Plane Operation Training

Manned space technology is the key technology of space construction in every country,which plays a decisive role in the economy,technology and politics of a country.With the development of China’s aerospace industry,the mission of astronauts’ activities out of the cabin is becoming more and more complex,including pushing objects or lifting heavy objects,etc.However,the motion state of objects in the weightless environment in space is completely different from that of the ground.If the astronauts use the conventional way of thinking to exert force,it will lead to safety accidents.For this reason,astronauts need to train in microgravity environment before flying to space.According to the research background,a virtual plane operation training robot driven by flexible cable is designed in this paper.Its function is to simulate the motion state of different mass objects in the weightlessness environment of space on the ground,and then to cultivate the thinking mode of astronauts,so as to lay a good foundation for the spaceflight activities.This robot is driven by flexible cable,which is a plane structure and has three degrees of freedom.It can realize three aspects of training contents: pushing and pulling objects,supporting and placing objects and rotating objects.The specific research work of this paper includes:First of all,the design requirements of the robot are determined according to the factors such as the astronaut’s out of the cabin activity task,the astronaut’s environment and human factors engineering.According to the design requirements,the structure scheme of the robot is determined,including the overall structure,dimension planning and flexible cable layout.The overall structure is divided into three parts: guiding mechanism,virtual operation unit and driving unit.Then according to the expectation The robot can achieve the function of the overall control scheme design and communication scheme design.According to the structural design scheme and the kinematic characteristics of the robot,the kinematic equation of the robot is established,the kinematic analysis of the robot is carried out,and the simulation is carried out;according to the mechanical characteristics of the robot,the dynamic equation of the robot is established,the dynamic analysis of the robot is carried out,and the simulation is carried out.When the dynamic analysis of the robot is carried out,a flexible cable force redundancy problem is proposed.Compared with the general inverse algorithm,the force distribution algorithm based on particle swarm optimization is very effective,and the simulation analysis is carried out to verify its rationality.The control strategy of the robot is designed and studied.Firstly,for the overall control strategy driven by four flexible cables,the parallel control scheme of force and position is adopted,three flexible cables are controlled by position control to ensure the position loading accuracy,and one flexible cable is controlled by force to ensure the force distribution on four flexible cables is reasonable.The controller is designed and simulated respectively,and the speed prediction model is proposed for the redundant force of the force control unit To improve the control effect.In order to further verify the effectiveness of the control strategy,the real-time experimental research is carried out by using d SPACE semi physical simulation platform.The main contents are four parts: single flexible cable position servo control experiment,single flexible cable force servo control experiment,double flexible cable force position combined servo control experiment,four flexible cable force position parallel servo control experiment.The experimental research verifies the effectiveness of the control strategy.