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 ...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.展开更多
DQWN TO EARTH China＇s Shenzhou-9 astronauts Jing Haipeng （third right back）, Liu Wang （second right back） and Liu Yang （third left back）, who successfully executed the country＇s first manned space decking miss...DQWN TO EARTH China＇s Shenzhou-9 astronauts Jing Haipeng （third right back）, Liu Wang （second right back） and Liu Yang （third left back）, who successfully executed the country＇s first manned space decking mission in June, speak to a group of Hong Kong middle school students who recently finished a young astronaut training camp on the mainland at the Hong Kong Convention and Exhibition Center on August 11展开更多
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of ChinaProject(QC2010009) supported by the Natural Science Foundation of Heilongjiang Province,China
文摘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.
文摘DQWN TO EARTH China＇s Shenzhou-9 astronauts Jing Haipeng （third right back）, Liu Wang （second right back） and Liu Yang （third left back）, who successfully executed the country＇s first manned space decking mission in June, speak to a group of Hong Kong middle school students who recently finished a young astronaut training camp on the mainland at the Hong Kong Convention and Exhibition Center on August 11
