CN104118580B - A kind of low-gravity simulation device and method - Google Patents
A kind of low-gravity simulation device and method Download PDFInfo
- Publication number
- CN104118580B CN104118580B CN201410333252.6A CN201410333252A CN104118580B CN 104118580 B CN104118580 B CN 104118580B CN 201410333252 A CN201410333252 A CN 201410333252A CN 104118580 B CN104118580 B CN 104118580B
- Authority
- CN
- China
- Prior art keywords
- low
- simulation
- control system
- identical tension
- gravity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses one low-gravity simulation device and method, this device mainly includes with lower component: many set " identical tension " control systems, for realizing the tension force control of lifting rope in the range of vertical impulse stroke by instruction；Three Degree Of Freedom moves rotation comprehensive platform and controls subsystem, connect below and have described many set " identical tension " control systems, many set " identical tension " control systems are connected with simulation low gravitation object by lifting rope respectively, as the control information of Three Degree Of Freedom movable rotary platform after the most set constant tension control system pose parameter coupled in common；Hanging agent structure, is arranged on servo comprehensive platform；Many suspension centres combined control system, according to simulation low gravitation object space attitude, calculates each sling point in real time and currently hangs force value, it is ensured that hanging force meets set gravity requirement, and hanging force is by simulating the barycenter of low gravitation object.The present invention can adapt to barycenter real-time change with movable part and the stressing conditions of junction between motion each in the case of true reappearance low gravitation.
Description
Technical field
The present invention relates to a kind of low-gravity simulation device and method.
Background technology
Presently, there are the device of the little gravity environment of various simulation, such as device, aircraft, waters, balloon and hoisting machinery with lowering cage, subjects center of gravity is applied vertical relief force etc., those conventional simulators typically use be arranged on various fixing or can be in the system of geographical movement, the most most typically simulator based on overhead traveling crane machinery and Transport Machinery.Existing low-gravity simulation device generally is the simulator along one direction certain track, and special dimension uses and develops a kind of single-point automatic tracking system, but appoints and cannot meet multi-part mechanism product for each parts low gravitation real-time Simulation requirement.
Requiring during lunar rover ground experiment to carry out low-gravity simulation, usual lunar rover running gear is multi-part train of mechanism (six take turns rocker-arm), and running gear is made up of four movable parts and body attachment means five part.The single-point type loss of weight analog of ability, can only hang for structural member (mainly body attachment means, also referred to as casing) at present.Process of the test only carries out Control of decreasing load to lunar rover casing (single-point), owing to simulating the complexity of lunar surface landform, the change randomness of movable part barycenter, cannot six wheel loads taken turns during accurate simulation lunar rover moonwalk, it is impossible to the internal barycenter situation of change of tracking mechanism part adjusts at any time in real time.I.e. cannot obtain the performance parameter of lunar rover moonwalk accurately.
Summary of the invention
The present invention provides a kind of multiple spot hanging low-gravity simulation device and method, to solve drawbacks described above of the prior art.Owing to inspection tour prober for moon surface has multiple motion to constitute, in motor process, its barycenter is real-time change.For the stressing conditions of active connection place between true reappearance each motion, adapting to barycenter real-time change, each moving component is hung by this analog respectively.
Technical scheme is as follows:
A kind of low-gravity simulation device, mainly includes with lower component:
With sling point many set " identical tension " control systems one to one, it is used for realizing by instruction the tension force control of lifting rope in the range of vertical impulse stroke；
Mobile platform and control subsystem, be mainly made up of platform framework and the servo motion platform being provided with described " identical tension " control system, and described servo motion platform uses two-dimensional movement servo control scheme, can control each lifting rope and remain vertical；The lower section of described servo motion platform connects described " identical tension " control systems of overlapping one to one with sling point more, and described many set " identical tension " control systems are connected with simulating low gravitation object by lifting rope respectively；Described servo motion platform is preferably the servo motion platform of height response；
Hanging agent structure, it is arranged on described servo motion platform, main by guide rail, lengthwise movement cart, transverse movement dolly and rotating disk composition, wherein lengthwise movement cart is slidably connected on described guide rail, transverse movement dolly is positioned at the top of lengthwise movement cart, and be slidably connected with lengthwise movement cart, the upper end of described rotating disk is rotationally connected with lengthwise movement cart, the lower end of described rotating disk is affixed with described high response servo motion platform, described rotating disk for according to sling point each on servo motion platform relative to the change of position, judge the change of the described simulation low gravitation movement direction of object hung, control mobile platform to turn to accordingly, in the range of ensureing that each sling point on servo motion platform is in impulse stroke all the time；
Many suspension centres combined control system, according to described simulation low gravitation object space attitude, calculates each sling point in real time and currently hangs force value, and ensure that hanging force meets set gravity requirement, and hanging force is by the barycenter of described simulation low gravitation object.
A kind of method using above-mentioned low-gravity simulation device to carry out low-gravity simulation, described lifting rope is used to carry out multiple spot hanging on described simulation low gravitation object, during described simulation low gravitation object of which movement, described hanging agent structure carries out synchronizing moving on described servo motion platform, and by described many suspension centres combined control system according to simulation low gravitation object space attitude, calculate each sling point in real time and currently hang force value, and transmission instruction overlaps " identical tension " control systems to described more respectively, via the described controls overlapping " identical tension " control system more, ensure that hanging force meets set gravity requirement, and hanging force is by the barycenter of described simulation low gravitation object.
Compared with prior art, beneficial effects of the present invention is as follows:
The oneth, present invention can be during simulation low gravitation, when there is any change in simulation low gravitation object mass center, measure the tension variation of hoist cable in real time, realize hoist cable constant tensile control and quickly retracting, realize the hanging of many bodies and the real-time tracking of hanging of simulation low gravitation object, it is ensured that the simulation of its low-gravity environment；
The low-gravity simulation device of the 2nd, present invention uses the scheme of multiple (such as 5) sling point, suspension centre can realize the four-dimensional tracking to simulation low gravitation object of which movement, including: (1) constant tensile control on gravity direction and the quickly retracting of hoist cable, the up and down motion that suspension centre occurs suddenly can be responded, and ensure the constant of hanging force；(2) movement in horizontal two-dimension direction is made up of two parts, including servo system and the motion of mobile platform of suspension centre, it is ensured that hoist cable vertical and servo are servo-actuated in rational stroke；(3) mobile platform (rotating disk) is around the rotation of central shaft perpendicular to the ground, can realize the unrestricted rotation of inspection tour prober for moon surface.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention low-gravity simulation device；
Fig. 2 is the embodiment of the present invention low-gravity simulation device position view to five sling points of lunar surface rover.
Detailed description of the invention
Below with specific embodiment, the present invention will be further described.
Embodiment
Referring to Fig. 1, the present embodiment provides a kind of 5 hanging low-gravity simulation devices, for carrying out the low-gravity simulation of lunar surface rover.Wherein, described 5 hanging low-gravity simulation devices include:
With sling point five set " identical tension " control system 1 one to one, it is used for realizing by instruction the tension force control of lifting rope in the range of vertical impulse stroke；Additionally, also include a set of standby " identical tension " control system, and for following mobile platform and a set of " identical tension " control system of control subsystem, altogether equipped with seven set " identical tension " control systems；
Mobile platform and control subsystem, be mainly made up of platform framework 9 and the servo motion platform 2 being provided with above-mentioned a set of " identical tension " control system, and this servo motion platform 2 uses two-dimensional movement servo control scheme, can control each lifting rope 3 and remain vertical；The lower section of servo motion platform connects to be had and five sling points, five set " identical tension " control system one to one, and those set " identical tension " control systems are connected with simulation low gravitation object by lifting rope 3 respectively；Servo motion platform 2 is the servo motion platform of high response；
Hanging agent structure, it is arranged on described servo motion platform 2, main by guide rail 4, lengthwise movement cart 5, transverse movement dolly 6 and rotating disk 7 form, wherein lengthwise movement cart 5 is slidably connected on guide rail 4, transverse movement dolly 6 is positioned at the top of lengthwise movement cart 5, and be slidably connected with lengthwise movement cart 5, the upper end of rotating disk 7 is rotationally connected with lengthwise movement cart 5, the lower end of rotating disk 7 is affixed with high response servo motion platform 2, rotating disk 7 for according to sling point each on servo motion platform 2 relative to the change of position, judge the change of lunar surface rover 8 direction of motion hung, control mobile platform to turn to accordingly, in the range of ensureing that each sling point on servo motion platform 2 is in impulse stroke all the time；
Many suspension centres combined control system, according to lunar surface rover 8 position and attitude, calculates each sling point in real time and currently hangs force value, and ensure that hanging force meets 1/6 set gravity requirement, and keep hanging force all the time by the barycenter of lunar surface rover 8.
Wherein, the sling point of lunar surface rover 8 is five, refer to Fig. 2, these five sling points lay respectively at following five portions set parts of lunar surface rover: " rover " casing and internal various instrument and equipment 81 thereof, left side master rocker and the near front wheel 82, right side master rocker and off-front wheel 83, trailing wheel 84 in left side secondary-rocker and left side, trailing wheel 85 in right side secondary-rocker and right side, above-mentioned five set " identical tension " control systems 1 are used for following the tracks of each motion being hung " portion's grip assembly " three degree of freedom direction, the most each hung " portion's grip assembly " up and down motion along vertical, the left and right of horizontal direction is with movable；Meanwhile, above-mentioned five set " identical tension " control systems 1 also follow the tracks of the rotation around its central axis of lunar surface rover 8 entirety.
The method using above-mentioned low-gravity simulation device to carry out lunar surface low-gravity simulation is as follows:
Lifting rope 3 is used to carry out multiple spot hanging (five points) in lunar surface rover, in lunar surface rover 8 in the motor process on simulative lunar soil 10 surface, above-mentioned hanging agent structure carries out synchronizing moving on servo motion platform 2, and by many suspension centres combined control system according to lunar surface rover 8 position and attitude, calculate each sling point in real time and currently hang force value, and many set " identical tension " control systems 1 are given in transmission instruction respectively, via the controls overlapping " identical tension " control system 1 more, ensure that hanging force meets set gravity requirement, and the barycenter that hanging force is by lunar surface rover.
The lunar surface 1/6g low-gravity environment simulation erecting by overhang of the present embodiment uses barycenter hanging to compensate the principle of terrestrial gravitation, the simulation of low-gravity environment is provided for mobile subsystem process of the test, that is: the vertical extended line of " hanging force " is all the time by the barycenter of hanging object, weighs the simulation of 1/6 for the earth realizing lunar surface gravity.
It is that robot mechanism technology, power control technology, position tracking technique and sensor information fusion technology etc. carry out integrated and innovation that the low-gravity environment analog of the present invention realizes technology path, develops simulation hanging assay device, completes predetermined test objective.Determine that according to experimental principle, work flow and working environment the technology of simulation erecting by overhang requires and total arrangement, robotics is utilized to realize state simulation, motor control, performance test, utilizing power root to realize simulating all the time with control technology, the performance of lunar rover is tested, assesses and is verified by beneficially semi-physical simulation process.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.Preferred embodiment does not has all of details of detailed descriptionthe, is not intended to the detailed description of the invention that this invention is only described yet.Obviously, according to the content of this specification, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is to preferably explain the principle of the present invention and actual application, so that skilled artisan can be best understood by and utilize the present invention.The present invention is only limited by claims and four corner thereof and equivalent.
Claims (5)
1. a low-gravity simulation device, it is characterised in that mainly include with lower component:
With sling point many set " identical tension " control systems one to one, it is used for realizing by instruction the tension force control of lifting rope in the range of vertical impulse stroke；
Mobile rotation comprehensive platform and control subsystem, mainly it is made up of platform framework and the servo motion platform being provided with described " identical tension " control system, described servo motion platform uses the one-dimensional servo control scheme controlling to rotate of two-dimensional movement, can control each lifting rope and remain vertical；The lower section of described servo motion platform connects described " identical tension " control systems of overlapping one to one with sling point more, and described many set " identical tension " control systems are connected with simulating low gravitation object by lifting rope respectively；
Hanging agent structure, it is arranged on described servo motion platform, main by guide rail, lengthwise movement cart, transverse movement dolly and rotating disk composition, wherein lengthwise movement cart is slidably connected on described guide rail, transverse movement dolly is positioned at the top of lengthwise movement cart, and be slidably connected with lengthwise movement cart, the upper end of described rotating disk is rotationally connected with lengthwise movement cart, the lower end of described rotating disk is affixed with the described servo motion platform of high response, described rotating disk for according to sling point each on servo motion platform relative to the change of position, judge the change of the described simulation low gravitation movement direction of object hung, control the mobile comprehensive platform that rotates to turn to accordingly, in the range of ensureing that each sling point on servo motion platform is in impulse stroke all the time；
Many suspension centres combined control system, according to described simulation low gravitation object each movable part position and attitude, measure position and posture and the hanging force value of each movable part in real time, analyze each movable part posture information and coupling condition, control the described mobile comprehensive platform movement in horizontal two-dimension direction, rotation and the constant tension control system elevator of rotating in real time to move, to ensure that hanging force meets set gravity requirement constantly, and hanging force is constantly by the barycenter of described simulation low gravitation object.
2. low-gravity simulation device as claimed in claim 1, it is characterized in that, described simulation low gravitation object is multi-part mechanism product, relative irregular movement is there is between multi-part, described multi-part mechanism product is lunar surface rover, " identical tension " control system arranges five sets altogether, five described sling points lay respectively at following five portions set parts of described lunar surface rover: " rover " casing and internal various instrument and equipment thereof, left side master rocker and the near front wheel, right side master rocker and off-front wheel, trailing wheel in left side secondary-rocker and left side, trailing wheel in right side secondary-rocker and right side, each described portion set parts link with a sling point respectively, corresponding " identical tension " control system is hung the motion in " portion's set parts " three degree of freedom direction for following the tracks of, i.e. along the up and down motion of vertical, the left and right of horizontal direction is with movable；Meanwhile, " identical tension " control system that each described sling point is the most corresponding realizes integral platform by pose coupling and moves from motion tracking lunar surface rover and rotate.
3. low-gravity simulation device as claimed in claim 1, it is characterised in that also include a set of standby " identical tension " control system.
4. the method that the low-gravity simulation device that a kind uses according to any one of claim 1-3 carries out low-gravity simulation, it is characterized in that, described lifting rope is used to carry out multiple spot hanging on described simulation low gravitation object, during described simulation low gravitation object of which movement, described hanging agent structure carries out synchronizing moving on described servo motion platform, and by described many suspension centres combined control system according to simulation low gravitation object space attitude, calculate each sling point in real time and currently hang force value, and transmission instruction overlaps " identical tension " control systems to described more respectively, via the described controls overlapping " identical tension " control system more, ensure that hanging force meets set gravity requirement, and hanging force is by the barycenter of described simulation low gravitation object.
5. the method using low-gravity simulation device to carry out low-gravity simulation as claimed in claim 4, it is characterized in that, described simulation low gravitation object is lunar surface rover, sling point in described lunar surface rover is five, described " identical tension " control system arranges five sets altogether, five described sling points lay respectively at following five portions set parts of described lunar surface rover: " rover " casing and internal various instrument and equipment thereof, left side master rocker and the near front wheel, right side master rocker and off-front wheel, trailing wheel in left side secondary-rocker and left side, trailing wheel in right side secondary-rocker and right side, " identical tension " control system described in the most corresponding with each sling point is used for following the tracks of each motion being hung " portion's set parts " three degree of freedom direction, i.e. along the up and down motion of vertical, the left and right of horizontal direction is with movable；Meanwhile, described and that each sling point is the most corresponding " identical tension " control system also follows the tracks of the rotation around its central axis of the described lunar surface rover entirety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410333252.6A CN104118580B (en) | 2014-07-14 | 2014-07-14 | A kind of low-gravity simulation device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410333252.6A CN104118580B (en) | 2014-07-14 | 2014-07-14 | A kind of low-gravity simulation device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104118580A CN104118580A (en) | 2014-10-29 |
| CN104118580B true CN104118580B (en) | 2016-10-19 |
Family
ID=51764266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410333252.6A Active CN104118580B (en) | 2014-07-14 | 2014-07-14 | A kind of low-gravity simulation device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104118580B (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9194977B1 (en) * | 2013-07-26 | 2015-11-24 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Active response gravity offload and method |
| CN105599922B (en) * | 2014-11-20 | 2018-01-09 | 中国科学院沈阳自动化研究所 | A kind of 1/6g low gravitations balance erecting by overhang |
| CN104678781B (en) * | 2015-03-05 | 2017-03-29 | 南京航空航天大学 | Imitative gecko robot for space attitude regulation and control and landing experimental system and method |
| CN104787363B (en) * | 2015-05-06 | 2016-08-24 | 中国科学院沈阳自动化研究所 | A kind of satellite ground microgravity dynamic load simulation mechanism |
| CN105109713B (en) * | 2015-08-26 | 2017-07-07 | 北京航空航天大学 | The vertical subsystem control method of gravity compensation based on sliding-mode surface |
| CN106114920B (en) * | 2016-06-21 | 2018-07-06 | 哈尔滨工业大学 | It is a kind of that there is the microgravity simulation tension control mechanism for loading a wide range of adjustable function |
| CN107092232B (en) * | 2017-05-11 | 2019-01-22 | 哈尔滨工业大学 | Multiple motion platforms two-stage cooperative motion control system |
| CN107757955B (en) * | 2017-09-18 | 2019-05-17 | 北京卫星环境工程研究所 | Multi-joint space mechanism gravity unloading device |
| CN108082540B (en) * | 2017-12-14 | 2020-08-07 | 哈尔滨工业大学 | Three-dimensional zero gravity simulation device combining knife type cam constant force spring and air floatation thrust bearing |
| CN108583945B (en) * | 2018-05-02 | 2019-05-10 | 哈尔滨工业大学 | A kind of permanent tension system based on motor, constant moment of force mechanism and planetary gear train |
| CN108382616B (en) * | 2018-05-17 | 2023-07-04 | 燕山大学 | Suspension gravity compensation device based on magnetic suspension follow-up |
| CN109018071B (en) * | 2018-06-21 | 2021-05-28 | 宁波介量机器人技术有限公司 | Intelligent ceiling robot based on magnetic adsorption |
| CN109720609B (en) * | 2018-12-25 | 2022-04-12 | 哈尔滨工业大学 | Suspended microgravity simulation device and control method |
| CN112079258A (en) * | 2020-09-08 | 2020-12-15 | 中原动力智能机器人有限公司 | Movable microgravity environment simulation device |
| CN112416028B (en) * | 2020-11-12 | 2022-11-29 | 上海卫星装备研究所 | Multi-point hanging constant force joint adjustment control method and system |
| CN113291496B (en) * | 2021-05-31 | 2022-05-03 | 哈尔滨工业大学 | Suspension type discrete motion system and use method |
| CN113371235B (en) * | 2021-05-31 | 2022-07-22 | 哈尔滨工业大学 | Active and passive combined suspension type double-layer motion platform and using method |
| CN113781888A (en) * | 2021-09-30 | 2021-12-10 | 北京九天微星科技发展有限公司 | Lunar vehicle model and teaching aid for teaching |
| CN114603603B (en) | 2022-03-03 | 2023-01-31 | 深圳技术大学 | Ground simulation device and method for on-orbit operation of space manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0559560A1 (en) * | 1992-03-06 | 1993-09-08 | AEROSPATIALE Société Nationale Industrielle | Structure for positioning and stabilizing an objekt in a threedimensional referencespace |
| JP2002350297A (en) * | 2001-05-30 | 2002-12-04 | Telecommunication Advancement Organization Of Japan | Development test device |
| CN101596940A (en) * | 2009-07-13 | 2009-12-09 | 葛升民 | Ground simulation test device for space vehicle |
| CN102539185A (en) * | 2011-12-27 | 2012-07-04 | 北京卫星环境工程研究所 | Selenographic gravity simulation system for ground traveling tests of exploration rover |
| CN103085992A (en) * | 2012-11-23 | 2013-05-08 | 北京理工大学 | Spatial microgravity simulation experiment system |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| CN103662109A (en) * | 2013-11-20 | 2014-03-26 | 上海宇航系统工程研究所 | Device for simulating microgravity on lunar surface |
-
2014
- 2014-07-14 CN CN201410333252.6A patent/CN104118580B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0559560A1 (en) * | 1992-03-06 | 1993-09-08 | AEROSPATIALE Société Nationale Industrielle | Structure for positioning and stabilizing an objekt in a threedimensional referencespace |
| JP2002350297A (en) * | 2001-05-30 | 2002-12-04 | Telecommunication Advancement Organization Of Japan | Development test device |
| CN101596940A (en) * | 2009-07-13 | 2009-12-09 | 葛升民 | Ground simulation test device for space vehicle |
| CN102539185A (en) * | 2011-12-27 | 2012-07-04 | 北京卫星环境工程研究所 | Selenographic gravity simulation system for ground traveling tests of exploration rover |
| CN103085992A (en) * | 2012-11-23 | 2013-05-08 | 北京理工大学 | Spatial microgravity simulation experiment system |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| CN103662109A (en) * | 2013-11-20 | 2014-03-26 | 上海宇航系统工程研究所 | Device for simulating microgravity on lunar surface |
Non-Patent Citations (2)
| Title |
|---|
| 巡视器地面六分之一重力模拟中的控制研究;孟瑶;《中国优秀硕士学位论文全文数据库 工程科技II辑》;20110531;正文第1-14页 * |
| 月球巡视器吊点张力控制系统的设计;李灏等;《机械设计与制造》;20120408(第4期);第50-52页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104118580A (en) | 2014-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104118580B (en) | A kind of low-gravity simulation device and method | |
| CN112512951B (en) | System and method for transporting a swinging hoisting load | |
| JP7469282B2 (en) | Whole-body manipulation for legged robots using dynamic balance | |
| Zi et al. | Localization, obstacle avoidance planning and control of a cooperative cable parallel robot for multiple mobile cranes | |
| CN102539185B (en) | Selenographic gravity simulation system for ground traveling tests of exploration rover | |
| CN110545962B (en) | Cable-driven parallel manipulator | |
| CN103846649B (en) | A kind of two-stage parallel connection robot device for Fine Boring | |
| US6496765B1 (en) | Control system and method for payload control in mobile platform cranes | |
| CN103085992A (en) | Spatial microgravity simulation experiment system | |
| CN104787363A (en) | Ground microgravity dynamic loading simulation mechanism for satellite | |
| CN108621202B (en) | Multi-arm space robot cooperative fine operation ground experiment system | |
| CN103253385A (en) | Space six-degree-of-freedom controlled and weightless simulation device | |
| CN105599922A (en) | A 1/6g low gravity balance hoisting device | |
| CN104325460B (en) | The micro-low gravity simulation method of multi-joint space manipulator | |
| CN104290932A (en) | Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms | |
| Viet | Crane sway reduction using Coriolis force produced by radial spring and damper | |
| CN114603603B (en) | Ground simulation device and method for on-orbit operation of space manipulator | |
| CN104385302A (en) | Spatial microgravity compensation method for simulating motion of multi-rigid-body manipulator | |
| CN109193457B (en) | Line inspection robot for power transmission line along ground line | |
| Lee | Design of a humanoid robot for disaster response | |
| Jayatilaka et al. | Robonwire: Design and development of a power line inspection robot | |
| AU2020272530B2 (en) | Apparatus for controlling a load suspended on a cord | |
| CN206249652U (en) | A kind of flight simulation triaxial movement platform | |
| CN104564913A (en) | Hydraulic control system for parallel six-degree-of-freedom turntable | |
| Barroso et al. | Smooth path planner for dynamic simulators based on cable-driven parallel robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |