CN104477420A - Nine-rope driving robot device for simulating zero gravity and low gravity - Google Patents
Nine-rope driving robot device for simulating zero gravity and low gravity Download PDFInfo
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Abstract
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.
Description
Technical field
The invention belongs to zero gravity and low-gravity environment analog machine field, particularly nine rope drive machines people devices of a kind of zero-gravity simulation and low gravitation.
Background technology
To when such as the extraterrestrial celestial body such as the moon, Mars detects, if detector needs Returning ball after this celestial body collected specimens, detector is needed to go up to the air in this celestial body surface emitting, this kind of transmitting faces launch environment and is in low-gravity environment, and a series of technical barriers such as rigidity of support is not enough, attitude is uncertain, plume interference, need a large amount of analytical calculations and experimental simulation, therefore a set of rational analogy method and analog machine are very necessary.
Existing zero gravity and low-gravity environment simulation experiment device or analog technology mainly contain five classes: weightless flight or simulation of falling, buoyant equilibrium gravitational method, the simulation of rigidity parallel institution, rope mechanism pull simulation, earth surface material object is launched and verified.In these methods, the method of weightless flight or simulation of falling is mainly used in zero gravity simulation but virtual space is restricted, buoyant equilibrium gravitational method is mainly used in low (zero) gravity environment operation training for a long time based on suspension process but to be limited by the resistance dynamic responding speed of water not enough, the simulation of rigidity parallel institution uses how free platform to carry out spacecraft launching site simulation but motion space is little, rope mechanism pulls the gravity or motion compensation that can only provide vertical direction, earth surface material object is difficult to realize low-gravity environment condition when launching checking, namely, existing zero gravity and low-gravity environment simulation experiment device or analog technology are all difficult to meet detector from launching simulation requirement when other celestial body surface emitting and then Returning ball.
Rope mechanism pulls analogy method, and to have working space large and can realize higher dynamic response, is an important directions of exploitation zero gravity and low-gravity environment simulation experiment device.Parallel for oblique pull rope system and inclined-plane are combined simulation low-gravity environment, for training flight person by US National Aeronautics and Space Administration (NASA).In addition, can by carrying out servocontrol initiatively to Suo Li or adopting counterweight, offset part or all of gravity, realize low gravitation and zero gravity environment, this scheme embodies (application for a patent for invention publication No.: CN102145755A, CN102009749A) to some extent in existing Chinese invention patent application.But existing rope mechanism pulls analog machine can only simulate the state of kinematic motion of vertical direction and stressed, the simulation of the motion that engine thrust that multifreedom motion especially may appear at all directions causes cannot be used for.If by many rope layouts multiple position in space, but not only vertical direction, it will be adopt rope mechanism to pull a kind of very useful exploration that analogy method carries out zero gravity and low-gravity environment simulation.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide nine rope drive machines people devices of a kind of zero-gravity simulation and low gravitation, the astronaut training in operating mode, low-gravity environment is launched, even as rehabilitation appliances etc. need the application of gravity compensation for the recoverable module of simulating as the celestial body such as the moon, Mars surface.The pulling force of this rope drive machines human simulation device by the every root rope of sensing system collection and the pose of fictitious load platform, by the control algorithm of control system, controlled reset is carried out to the length of every root rope or pulling force, realize the stressed and six-freedom motion of object under zero-gravity simulation or low-gravity environment in larger scope of work, and can realize applying the exciting force that fictitious load platform may be subject to.
To achieve these goals, the technical solution used in the present invention is:
Nine rope drive machines people devices of a kind of zero-gravity simulation and low gravitation, comprise basic framework, rope 330, rope driver element, line guide, fictitious load platform 500, sensor and control system, wherein, rope 330 has nine, one end of every root is connected on basic framework, the other end is connected to after walking around line guide on fictitious load platform 500, rope driver element controls elongating or shortening of rope 330 according to the instruction of control system, pulling force on the every root rope 330 of sensor measurement and the pose of displacement and fictitious load platform 500, pulling force on every root rope 330 that control system records according to sensor and the pose data of fictitious load platform 500 take length or power to control to simulate the motion of fictitious load platform 500 in zero gravity or low-gravity environment to each rope 330.
Described basic framework comprises basic platform 101 and is arranged on the high column 102 of the six roots of sensation equal altitudes on basic platform and the low column 103 of three equal altitudes, one group between two, be divided into three groups, distance between adjacent sets is equal, three low columns 103 lay respectively at the point midway between the high column 102 of adjacent sets, the bottom end vicinity that basic platform 101 is positioned at every root post all installs a sets of cords driver element, rope driver element comprises motor 301 and the cylinder 315 being connected motor 301, on the top of every root post, a set of line guide is all installed, line guide comprises pulley 325, one end of every root rope 330 is connected on cylinder 315, the other end is walked around pulley 325 and is connected on fictitious load platform 500, wherein walk around the some position of pulley 325 for going out rope point, the projection of rope point in horizontal surface that go out corresponding to six roots of sensation height column 102 is positioned on a circle, the projection of rope point in horizontal surface that go out corresponding to three low columns 103 is positioned on a circle.
Described sensor comprises force measuring sensors and length measuring sensor two class, and wherein force measuring sensors is made up of the pulling force sensor 350 be arranged between every root rope 330 and fictitious load platform 500 and/or the torque sensor be arranged between motor 301 and cylinder 315; The length measuring sensor that length measuring sensor is no less than 6 by the rotation class length measuring sensor and/or the quantity be arranged between basic framework and fictitious load platform 500 that are arranged on motor 301 end face or cylinder 315 end face forms.
In described nine ropes 330, the six roots of sensation rope 330 walking around the line guide on six roots of sensation height column 102 is connected to the upper surface of fictitious load platform 500, and six point of connection be positioned at same circle circumferentially and go out rope point to project relative center of circle phase deviation 60 ° at horizontal surface with corresponding six, simultaneously, corresponding to the distribution of six roots of sensation height column 102, described six point of connection one group between two, be divided into three groups, the distance between adjacent sets is equal, three ropes 330 walking around the line guide on three low columns 103 are connected to the lower surface of fictitious load platform 500, and three point of connection being circumferentially uniformly distributed and going out rope point and project the relative center of circle without phase difference with corresponding three at horizontal surface at same circle, in fictitious load platform 500 lower surface, three rope point of connection distributions distribute without phase difference relative to the mid point of three groups of rope point of connection in upper surface, fictitious load platform 500 upper surface six point of connection place radius of circles and lower surface three point of connection place radius of circles are identical or different, and lower surface three point of connection place radius of a circles are minimum can be zero and upper surface six roots of sensation point of connection place radius of a circle is greater than zero all the time.
Two of same group of height column 102 inside go out rope point and are not less than 3 ° relative to the angle of the round heart of projective distribution and are no more than 40 °, and on fictitious load platform 500 upper surface, the angle in the same group of relative center of circle of point of connection is not less than 3 ° and is no more than 40 °.
Described pulley 325 is installed on bogie truck 321, and bogie truck 321 is installed on the bogie truck bracket 320 that can move up and down along column.
Described nine ropes 330 are located immediately on fictitious load platform 500 with the point of connection of fictitious load platform 500, or are positioned on the outside frame that is installed in outside fictitious load platform 500.
Described control system is according to mounting structure parameter, power is measured and length measurement, calculate the pose of fictitious load platform 500, pulling force on the length of each rope 330 and each rope 330, simultaneously according to the simulation requirement of zero gravity or low-gravity environment, in conjunction with the state of kinematic motion of fictitious load platform 500, calculate zero-gravity simulation or the low-gravity environment Imitating load platform 500 required each rope 330 that moves and be applied to pulling force on fictitious load platform 500 and length variations, and utilize power and length measuring sensor to adjust pulling force and the length of every root rope 330 in conjunction with the motor 310 in rope driver element and cylinder 315, realize the simulation of zero gravity or low-gravity environment.
Described nine ropes 330 adopt force-location mix control pattern to control simultaneously, or adopt force control mode to control simultaneously, or adopt that top six roots of sensation rope 330 adopts force-location mix control pattern and three, below rope 330 adopts force control mode to control.
In the present invention, exciting force can be decomposed on three ropes in below or be assigned on more ropes, realizing exciting force simulation.
Compared with prior art, the invention has the beneficial effects as follows:
1. adopt nine rope redundant drive schemes, there is the advantage of the large working space that cable parallel mechanism drives, high dynamic characteristics, and fictitious load platform six-freedom motion can be realized control, can be used in the launching simulation of recoverable module on extraterrestrial celestial body surface.
2. adopt nine ropes " upper six times three " placement scheme in space, there is large working space and the advantage that in working space, isotropy is good, top six roots of sensation rope can determine the pose of fictitious load platform simultaneously, and the mode of three ropes in below is chosen more flexible.
3. by Suo Li allocation algorithm reasonable in design, can the plume interference etc. of simulated engine be simultaneously outer disturbs power.
4. adopt the redundant drive scheme of nine ropes, system safety is high, can expand the medical rehabilitation instrument field for gravity or motion compensation.
Accompanying drawing explanation
Accompanying drawing 1 is nine rope drive machines people device schematic diagrams of a kind of zero-gravity simulation and low gravitation.
Accompanying drawing 2 is the rope structure of driving unit schematic diagram of nine rope drive machines people devices of a kind of zero-gravity simulation and low gravitation.
Accompanying drawing 3 is that six, the top of nine rope drive machines people devices of a kind of zero-gravity simulation and low gravitation goes out rope point and six rope point of connection distribution sketches.
Accompanying drawing 4 is that three, the below of nine rope drive machines people devices of a kind of zero-gravity simulation and low gravitation goes out rope point and three rope point of connection distribution sketches.
Accompanying drawing 5 is nine rope drive machines people apparatus control system design frame charts of a kind of zero-gravity simulation and low gravitation.
Accompanying drawing icon illustrates: 101-basic platform; 102-height column; The low column of 103-; 330-rope; 301-mounting base; 302-installation bracket; 303-torque sensor; 310-motor; 315-cylinder; 320-bogie truck bracket; 321-bogie truck; 325-pulley; 350-pulling force sensor; 500-fictitious load platform.
B
1, B
2, B
3, B
4, B
5, B
6six, top goes out rope point, B
7, B
8, B
9three, below goes out rope point.
P
1, P
2, P
3, P
4, P
5, P
6six the rope point of connection in top, P
7, P
8, P
9three the rope point of connection in below.
R
1six, top rope point of connection place distribution radius of circle.
R
10six, top goes out rope point place distribution radius of circle.
R
2three, below rope point of connection place distribution radius of circle.
R
20three, below goes out rope point place distribution radius of circle.
Detailed description of the invention
Embodiments of the present invention are described in detail below in conjunction with drawings and Examples.
The present invention relates to nine rope drive machines people devices of a kind of zero-gravity simulation and low gravitation as shown in Figure 1, its detailed description of the invention is as follows: nine rope drive machines people devices of this zero-gravity simulation and low-gravity environment are by basic framework, rope 330, rope driver element, line guide, fictitious load platform 500, the parts such as sensor and control system form, basic framework comprises basic platform 101 and the six roots of sensation height column 102 be arranged on basic platform and three low columns 103, the root position annex of every root post is provided with a sets of cords driver element, as shown in Figure 2, rope driver element is by mounting base 301, installation bracket 302, motor 310, cylinder 315 and relevant attaching parts composition, amount to nine covers, all be provided with a set of line guide near the tip position of every root post, every sets of cords guide piece is made up of bogie truck bracket 320, bogie truck 320, pulley 325 and relevant attaching parts, amounts to nine covers, the one ends wound of rope is on cylinder 315, and the other end is through being connected on fictitious load platform 500 after the pulley 325 of line guide, nine sets of cords guide piece relative analog load platforms form nine and go out rope point, as shown in Figure 3 and Figure 4, are distributed as B
1~ B
66 points, and B
7~ B
93 points, these nine go out rope point and adopt " upper six times three " solution layout in space, and six on top six roots of sensation height column 102 go out rope point B
1, B
2, B
3, B
4, B
5, B
6projection in horizontal surface is positioned on same circle, and the six roots of sensation goes out rope point one group between two, be divided on three groups of projection circles in horizontal surface and be uniformly distributed, two in same group go out rope point and are not less than 3 ° relative to projection the less of the center of circle and be no more than 40 °, and three on the low column 103 in three, below go out rope point B
7, B
8, B
9the distribution circle of the projection in horizontal surface is uniformly distributed, and six, top goes out rope point place distribution radius of circle R
10rope point place distribution radius of circle R is gone out with three, below
20can not be identical, six, top goes out the equal adjustable of height that the height of rope point and three, below go out rope point, nine rope point of connection on fictitious load platform 500 adopt " upper six times three " solution layout, wherein, above in six point of connection P
1, P
2, P
3, P
4, P
5, P
6a component becomes three groups between two, the same circle that these three groups of point of connection are interior is above uniformly distributed, often organize interior two point of connection be not less than 3 ° relative to the distribute angle of the round heart of place and be no more than 40 °, below interior three point of connection be uniformly distributed along distribution circle, and interior three point of connection P below
7, P
8, P
9in distribution relatively above, the mid point distribution of three groups of point of connection is without phase difference, its distribution circle home position and three, below go out the phase place bias free of rope point its circle home position that distributes relative to interior three point of connection relatively below, but above interior six rope point of connection between two a component become three groups on its distribution circle relative to home position with above six go out rope point between two a component become three groups its distribute justify on the phase deviation 60 ° of relative home positions, below interior three point of connection places distribution radius of circle R
2interior six point of connection places distribution radius of circle R above
1can not be identical, below interior three connect places distribution radius of circle R
2minimum can be zero, but above in six roots of sensation point of connection place distribution radius of circle R
1all the time zero is greater than, the point of connection of nine ropes and fictitious load platform can be located immediately on fictitious load platform, and also can install fixing outside frame additional for fictitious load platform, nine ropes are connected on outside frame, and the position distribution of point of connection requires the same.Rope driver element can all be arranged on basic platform 101, also can be arranged on high column 102, low column 103 or other anchor fittings, with easy for installation and avoid interference between rope for qualifications.
The sensing system of nine rope drive machines people devices of this zero-gravity simulation and low-gravity environment comprises force measuring sensors and length measuring sensor two class, installing and measuring point of force measuring sensors is directly measured and an indirect inspection two kinds, direct measurement refers to that pulling force sensor 350 is directly installed between rope 330 and fictitious load platform 500, as Fig. 1, directly record the size of rope 330 upper pulling force, indirect inspection refers to that sensor is arranged in the motion path of rope or in driver element, as being arranged on the torque sensor 303 between motor 310 and cylinder 315, as Fig. 2, indirect inspection obtains the size of rope 330 upper pulling force, the method of these two kinds of measurement rope upper pulling forces can use simultaneously also can be used alone, the design of control algorithm is coordinated to use, the ultimate aim of length measuring sensor obtains the length of each rope 330 and the pose of fictitious load platform 500, the method of measurement of length measuring sensor has two kinds, the rotation class length measuring sensor that one is mounted in each rope driving joint inside (as motor 301 end face or cylinder 315 end face) directly obtains the length of rope and then calculates the pose of fictitious load platform, another kind is directly installed on length measuring sensor between basic framework and fictitious load platform to measure length and the quantity of sensor is no less than 6, the pose of fictitious load platform and the length of every root rope is obtained by forward kinematics solution algorithm, these two kinds of length measuring sensors can use simultaneously also can be used alone, the design of control algorithm is coordinated to use, control system is according to the mounting structure parameter of analog machine, power is measured and length measurement, calculate the pose of fictitious load platform 500, pulling force on the length of each rope 330 and each rope 330, simultaneously according to the simulation requirement of zero gravity or low-gravity environment, in conjunction with the state of kinematic motion (speed of fictitious load platform 500, acceleration/accel), calculate zero-gravity simulation or the low-gravity environment Imitating load platform 500 required each rope 330 that moves and be applied to pulling force on fictitious load platform 500 and length variations, and utilize power and length measuring sensor to adjust pulling force and the length of every root rope 330 in conjunction with the motor 310 in rope driver element and cylinder 315, realize the simulation of zero gravity or low-gravity environment.
As Fig. 5, the design philosophy of the control system control algorithm of nine rope drive machines people devices of this zero-gravity simulation and low-gravity environment is, the length directly recording each rope 330 by the data of described length measuring sensor or at least 6 length data obtained according to indirect inspection resolve the length of pose parameter and each rope 330 obtaining fictitious load platform 500 by normal solution, analyze strained condition residing under zero gravity or low-gravity environment Imitating load platform 500 are in this pose parameter calculated and state of kinematic motion (speed, acceleration/accel), then optimize allocation algorithm by rope tensile force and be calculated as the pulling force realizing fictitious load platform 500 stressed and next step every root rope 3300 that moves under zero gravity or low-gravity environment should apply, obtain the length variations instruction of pulling force and rope, the direct or indirect force measuring sensors installed in conjunction with the position transdusers such as the angular encoder on motor and device realizes the pulling force of driving rope of servomotor and the closed loop of length variations or half-closed loop control, and then realize fictitious load platform 500 and move under zero gravity or low-gravity environment.
The rope driver element of nine rope drive machines people devices of this zero-gravity simulation and low-gravity environment, motor 310 used is servomotor, the force-location mix control under torque mode control or mode position can be adopted, the size of power of motor carries out type selecting according to Design of Transmission System, the link of the retarders such as planetary wheel can be introduced in driving system, reduce the requirement to power of motor; The outer corner measurement sensors such as rotary encoder can be installed in the mouth of motor 310 or a side end face of cylinder, to measure the rotational angle of cylinder 315, and then obtain the parameter of rope lengths change; Rope driver element inside can design and installation torque sensor 303, indirectly to obtain rope pull, and for the control of motor.Nine ropes in the rope drive machines people device proposed in the present invention can adopt force-location mix control pattern to control simultaneously, also can force control mode be adopted to control simultaneously, can also adopt that top six roots of sensation rope adopts force-location mix control pattern or even position control mode and three, below rope adopts force control mode to control.
Nine rope drive machines people devices of this zero-gravity simulation and low-gravity environment can realize the applying of the exciting force of fictitious load platform 500 suffered by zero gravity or low-gravity environment, the applying method of exciting force can be decompose on three ropes in below, and firmly allocation algorithm also can be made to be assigned on more even all ropes.
Claims (10)
1. nine rope drive machines people devices of a zero-gravity simulation and low gravitation, it is characterized in that, comprise basic framework, rope (330), rope driver element, line guide, fictitious load platform (500), sensor and control system, wherein, rope (330) has nine, one end of every root is connected on basic framework, the other end is connected on fictitious load platform (500) after walking around line guide, rope driver element controls elongating or shortening of rope (330) according to the instruction of control system, pulling force on the every root rope (330) of sensor measurement and the pose of displacement and fictitious load platform (500), pulling force on every root rope (330) that control system records according to sensor and the pose data of fictitious load platform (500) take length or power to control to simulate fictitious load platform (500) motion in zero gravity or low-gravity environment to each rope (330).
2. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to claim 1, it is characterized in that, described basic framework comprises basic platform (101) and is arranged on the high column (102) of the six roots of sensation equal altitudes on basic platform and the low column (103) of three equal altitudes, one group between two, be divided into three groups, distance between adjacent sets is equal, three low columns (103) lay respectively at the point midway between the high column (102) of adjacent sets, the bottom end vicinity that basic platform (101) is positioned at every root post all installs a sets of cords driver element, rope driver element comprises motor (301) and the cylinder (315) being connected motor (301), on the top of every root post, a set of line guide is all installed, line guide comprises pulley (325), one end of every root rope (330) is connected on cylinder (315), the other end is walked around pulley (325) and is connected on fictitious load platform (500), wherein walk around the some position of pulley (325) for going out rope point, the projection of rope point in horizontal surface that go out corresponding to six roots of sensation height column (102) is positioned on a circle, the projection of rope point in horizontal surface that go out corresponding to three low columns (103) is positioned on a circle.
3. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to claim 2, it is characterized in that, described sensor comprises force measuring sensors and length measuring sensor two class, and wherein force measuring sensors is made up of the pulling force sensor (350) be arranged between every root rope (330) and fictitious load platform (500) and/or the torque sensor be arranged between motor (301) and cylinder (315); The length measuring sensor that length measuring sensor is no less than 6 by the rotation class length measuring sensor and/or the quantity be arranged between basic framework and fictitious load platform (500) that are arranged on motor (301) end face or cylinder (315) end face forms.
4. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to claim 2, it is characterized in that, in described nine ropes (330), the six roots of sensation rope (330) walking around the line guide on six roots of sensation height column (102) is connected to the upper surface of fictitious load platform (500), and six point of connection be positioned at same circle circumferentially and go out rope point to project relative center of circle phase deviation 60 ° at horizontal surface with corresponding six, simultaneously, corresponding to the distribution of six roots of sensation height column (102), described six point of connection one group between two, be divided into three groups, distance between adjacent sets is equal, three ropes (330) walking around the line guide on three low columns (103) are connected to the lower surface of fictitious load platform (500), and three point of connection being circumferentially uniformly distributed and going out rope point and project the relative center of circle without phase difference with corresponding three at horizontal surface at same circle, in fictitious load platform (500) lower surface, three rope point of connection distributions distribute without phase difference relative to the mid point of three groups of rope point of connection in upper surface, fictitious load platform (500) upper surface six point of connection place radius of circles and lower surface three point of connection place radius of circles are identical or different, and lower surface three point of connection place radius of a circles are minimum can be zero and upper surface six roots of sensation point of connection place radius of a circle is greater than zero all the time.
5. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to claim 4, it is characterized in that, two of same group of height column (102) inside go out rope point and are not less than 3 ° relative to the angle of the round heart of projective distribution and are no more than 40 °, and on fictitious load platform (500) upper surface, the angle in the same group of relative center of circle of point of connection is not less than 3 ° and is no more than 40 °.
6. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to Claims 2 or 3 or 4 or 5, it is characterized in that, described pulley (325) is installed on bogie truck (321), and bogie truck (321) is installed on the bogie truck bracket (320) that can move up and down along column.
7. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to Claims 2 or 3 or 4 or 5, it is characterized in that, the point of connection of described nine ropes (330) and fictitious load platform (500) is located immediately on fictitious load platform (500), or is positioned at and is installed on fictitious load platform (500) outside frame outward.
8. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to claim 2, it is characterized in that, described control system is according to mounting structure parameter, power is measured and length measurement, calculate the pose of fictitious load platform (500), pulling force on the length of each rope (330) and each rope (330), simultaneously according to the simulation requirement of zero gravity or low-gravity environment, in conjunction with the state of kinematic motion of fictitious load platform (500), calculate zero-gravity simulation or the required each rope (330) of low-gravity environment Imitating load platform (500) motion and be applied to pulling force on fictitious load platform (500) and length variations, and utilize power and length measuring sensor to adjust pulling force and the length of every root rope (330) in conjunction with the motor (310) in rope driver element and cylinder (315), realize the simulation of zero gravity or low-gravity environment.
9. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to claim 1 or 8, it is characterized in that, described nine ropes (330) adopt force-location mix control pattern to control simultaneously, or adopt force control mode to control simultaneously, or adopt that top six roots of sensation rope (330) adopts force-location mix control pattern and three ropes (330) in below adopt force control mode to control.
10. nine rope drive machines people devices of zero-gravity simulation and low gravitation according to claim 1 or 8, is characterized in that, are decomposed by exciting force on three ropes in below or are assigned on more ropes, realizing exciting force simulation.
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