JP2668030B2 - Weightless simulator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a weightless simulator, and more particularly to a weightless simulator suitable for three-dimensionally moving a manipulator in a weightless state.

[Conventional technology]

Space manipulators are designed to operate in a weightless environment, and are extremely lightweight to reduce launch weight. Therefore, on the ground, the force is too weak to support the weight of oneself, and the rigidity is low. Before launching this manipulator into space, it is necessary to test whether the function and performance of the manipulator meet the specifications, and the necessity of a weightless simulator has been pointed out. However, an effective method of supporting a three-dimensionally manipulator in a weightless state without restraining the movement has not yet been known.

The manipulators on the US Space Shuttle are the only manipulators ever used in space environments. SPAR, a Canadian company that developed this, conducted a ground test of the manipulator using a test rig using air bearings. AGAR for this test rig
D Conf. Proc. No. 327 (1983) PP.2-1 to 2-10. In this test rig, three air bearings are arranged on an aluminum pipe beam that also serves as a plenum, and the manipulator boom is supported by a constant load support device using a combination of springs and links, and the weight of the manipulator arm is supported. Inside, there is almost no resistance due to frictional force and it can move freely. However, in this method, the motion is restricted to a two-dimensional plane, and three-dimensional motion cannot be tested.
In addition, since the weight of the test rig adversely affects the motion characteristics of the arm as an inertial force, there is a problem that an accurate test cannot be performed.

As another method, there is a method in which a manipulator arm is immersed in a water tank and a pseudo weightless state is made using buoyancy. Although this method can test three-dimensional motion, it is difficult to waterproof the entire arm, especially the joints including the rotating shaft and electrical parts, and it is not possible to perform highly accurate tests because it is subject to water pressure and water viscous resistance. There were drawbacks.

[Problems to be solved by the invention]

In the above prior art, the three-dimensional motion same as the use condition in the space environment is impossible, and the motion is limited to the two-dimensional motion in the horizontal plane, and the mass is added. The characteristics have changed,
Since viscous resistance acts, there are various problems such as a change in dynamic behavior and a limitation of the operating range of the arm due to a waterproof material, and it is almost impossible to perform a precise test in a weightless state.

An object of the present invention is to provide a weightless simulator that can perform a precise test of a manipulator in a weightless state.

[Means for solving the problem]

The above object is achieved by radially suspending each of the essential parts of the arm of the manipulator with three wires, and adjusting the length or tension of the three wires according to the movement of the arm.

That is, in order to achieve the above object, the present invention adjusts a wire group for suspending at least one portion of a manipulator or a work target object from three directions per wire via a wire connector, and adjusts the length of each wire. The wire driving device controls the wire driving device to adjust the length of the wire in accordance with the movement of the hanging portion and to position the connection point of each of the three wires substantially immediately above the hanging portion. The present invention proposes a weightless simulation device including an arithmetic device for outputting to a wire drive control device.

Specifically, the arithmetic unit takes in the data of the suspension target portion from the manipulator or the manipulator control device that drives the work target object as the target position of the wire connection point, and based on the data of the target position, each of the three data points. This is an arithmetic unit that calculates the length of each wire for positioning the connection point of the wires at that position.

Further, the wire coupling device is provided with an inclination sensor for detecting the inclination of the wire coupling device and a distance sensor for detecting the length between the wire coupling device and the portion to be suspended. It is also possible to adopt a configuration in which the data of the inclination and the length of the wire connector is taken in, and the arithmetic unit calculates each wire length so that the inclination and the length of the wire connector always take a predetermined value.

Further, the wire coupling device is provided with an inclination sensor for detecting the inclination of the wire coupling device and a distance sensor for detecting the length between the wire coupling device and the portion to be suspended, and the arithmetic unit operates the manipulator or the work target object. The data of the position to be suspended from the driven manipulator control device is taken in as the target position of the wire connection point, and each of the three wires is positioned based on the data of the target position to position the three wires at that position. In addition to calculating the wire length, it takes in the inclination and length data from the inclination sensor and the distance sensor provided on the wire coupling device, and sets the inclination and length of the wire coupling device to always have predetermined values. It is also possible to realize a simulation device with higher accuracy by using a calculation device that calculates the correction value of the wire length.

According to the present invention, in order to achieve the above object, a wire group for suspending at least one portion of a manipulator or a work target object from three directions at each location via a wire coupler is adjusted, and the length of each wire is adjusted. A wire driving device, a three-dimensional position measuring device for measuring the position of a manipulator or a work object, and three wires each for adjusting the length of the wire in accordance with the movement of the hanging part measured by the three-dimensional position measuring device. The weightless simulation device is provided with an arithmetic unit that outputs a command to position the wire connection point substantially directly above the hanging point to the wire drive control device that controls the wire drive device.

In order to achieve the above object, the present invention further adjusts a wire group for suspending at least one portion of the manipulator or the work target object from three directions per wire via a wire connector, and adjusting the length of each wire. A wire driving device, a rotation angle sensor for detecting the length of the wire, a torque sensor for detecting the tension, and a wire for calculating the tension of each wire based on the detected wire length, and calculating the detected wire tension. An arithmetic unit for outputting a command to position the connection point of each of the three wires substantially immediately above the suspending point so as to be equal to the tension to the wire drive control device controlling the wire drive device; This is a proposal for a simulation device.

In any case, it is desirable that the wire coupling device includes a spring that allows a minute displacement so that a natural behavior such as vibration or displacement of the manipulator or the work target object is not restricted by the wire.

[Action]

The mass of the manipulator arm is concentrated at the joint. If the length and tension of the wires are adjusted so that the resultant force of the tensions of the three wires is equal to the mass of the joint of the arm, the weight of the arm is canceled out and a weightless state can be simulated. When the arm moves, the movement is detected by some method, and the length and tension of the wire are automatically adjusted according to the movement of the arm. State can be maintained. Further, since the mass of the wire is small, the inertial force generated by the mass of the added wire has little adverse effect on the motion characteristics of the arm.

〔Example〕

Next, a first embodiment of a weightless simulation apparatus according to the present invention will be described with reference to FIG. The arm 1 of the manipulator has its base fixed to the floor. A pedestal 2 is installed so as to surround the arm 1, and a ceiling plate 3 is attached to the upper surface. However, in FIG. 1, most of the ceiling plate 3 is omitted so that the suspended state of the arm 1 can be easily seen. The elbow joint 4 of the arm 1 is suspended by three wires 5, and the length of the wires 5 can be adjusted by a wire driving device 6 attached to the ceiling plate 3. Also, the wrist joint 7
Is also suspended by the wire 8, and the length of the wire 8 can be adjusted by a wire driving device 9 attached to the ceiling plate 3.

FIG. 2 shows the arrangement of the wire drive devices 6 and 9 as seen from directly above this embodiment. The wire drive device 6 is arranged so that the movable range of the elbow joint 4 of the manipulator 1 falls within the triangle surrounded by the three wire drive devices 6.
Similarly, the wire driving device 9 is arranged so that the movable range of the wrist joint 7 of the manipulator 1 falls within the triangle surrounded by the three wire driving devices 9.

 FIG. 3 is a side view of this embodiment.

The wire must be connected to the arm 1 of the manipulator so as not to impede its movement.

FIG. 4 shows the structure of the wire connection part to the elbow joint 4. A hanging bracket 10 mounted to be swingable on the rotation axis of the elbow joint is a spring for absorbing a small displacement error.
It is connected via 11 and a load cell 12 to a wire connector 13 having three suspension rings. A wire 5 is connected to each of the three suspension rings. Also wire fittings
An inclination sensor 14 is attached to 13 if necessary. The load cell 12 and the tilt sensor 14 are used for setting a hanging load when setting an initial state, for confirming a vertical state, and for monitoring a weightless state during operation, but may be omitted. .

FIG. 5 shows the structure of the wire connecting portion with respect to the wrist joint portion 7, which is the same connecting structure as in FIG. Hanging bracket
The position 10 is selected so as to hang around the position of the center of gravity of the wrist joint.

FIG. 6 shows an example of the structure of the wire driving device 6. After passing through the guide pulley 16 attached to the base 15, the wire 5 is wound on the winding drum 17. A rotation angle sensor 18 is attached to the shaft end of the winding drum 17, and measures the wire feed length. Further, a torque sensor 20 is provided between the rotation shaft of the winding drum 17 and the output shaft of the winding drum drive motor 19, and detects a wire tension. The base 15 is attached to a support bracket 22 via a cross-beam joint 21 and a wire 6
The angle is freely changed in the direction of the tension.

With reference to FIG. 7, a method of controlling the position of the connecting point P of the wire connecting tool 1 will be described. Let the lengths of the three wires be A, B, and C, and the wire support points be Q, R, and S, respectively. Q, R, and S are in the same horizontal plane. Also, the supporting plane of the connecting point P
The length of the perpendicular to QRS is D, the intersection of the support plane QRS and the perpendicular D is P ', and the distance between P' and Q, R, S is u, v, w. Let a, b, c be the side lengths of the triangle QRS, and ∠QPP ′ be α,
Let ∠RPP 'be β and ∠SPP' be γ. Let f be the length of the perpendicular to the side b from the point P, and the side b is k pairs (1-k).
Shall be divided into Similarly, let e be the length of a perpendicular line drawn from the point P to the side c, and in this case, the side c is divided into i pairs (1-i). From the nature of the right triangle, subtract ^{A 2 = f 2 + (1} -k) 2 b 2 ...... (1) C 2 = f 2 + k 2 b 2 ...... (2) (1) Equation (2) below And A ² −C ² = (1−k) ² b ² −k ² b ² , Similarly, A ² = e ² + i ² c ² (4) B ² = e ² + (1−i) ² c ² (5) By subtracting equation (5) from equation (4), A ² −B ² i ² c ² − (1-i) ² c ² Next, the length of a line segment connecting the intersection point E and P 'between the side QR and the line segment e is s, and the length of a line segment connecting the intersection point F and P' between the side QS and the line segment f is r. I do. The plane QSR and the line segment PP 'intersect perpendicularly, so the plane PP' containing the line segment PP 'is the plane QRS.
Intersects vertically. Further, the plane PQS and the plane QSR cross obliquely, and the line segment QS and the line segment PF in the plane PQS cross perpendicularly. This indicates that the line segment P'F and the line segment QS intersect vertically.

Assuming that ′ QPS ′ is θ _b and ′ RQP ′ is θ _c , from the property of a right triangle, (1−k) b = u cos θ _b (7) ic = u cos θ _c (8) s = u sin θ _c (9) r = u sin θ _b (10) From the nature of the triangle, a ² = b ² + c ² -2b cos θ (11) Θ = θ _b + θ _c (13) Therefore, cos θ = cos (θ _b + θ _c ) = cos θ _b cos θ _c −sin θ _b sin θ _c (14) In the expression (14), (7) to (10) ) Substituting the expression, On the other hand, from ΔQP′E and ΔQP′F, u ² ＝ s ² ＋ i ² c ² …… (16) u ² ＝ r ² ＋ (1-k) ² b ² …… (17) (16) Substituting into equation (17), r ² = s ² + i ² c ² − (1-k) ² b ² (18) Further, from equation (15), sr = ic (1-k) b−u ² cos θ (19) When both sides are squared, s ² r ² = i ² c ² (1-k) ² b ² + u ⁴ cos ² θ −2ic (1-k) bu ² cos θ (20) By substituting the equations (16) and (18) into the equation (20), s ² 2s ² + i ² c ² − (1−k) ² b ² ｝ = i ² c ² − (1−k) ² b ² + (s ² + i ² c ² ) ² cos ² θ−2ic (1−k) b (s ² + i ² c ² ) cos θ (21) When this is arranged, L (S ² ) ² + Ms ² + N = 0 (22) However, L = 1-cos ² θ (23) M = i ² c ² − (1-k) ² b ² −2i ² c ² cos ² θ + 2ic (1-k ) bcosθ ...... (24) N = 2ic (1-k) bi 2 c 2 cosθ-i 2 c 2 (1 Therefore ^{k) 2 b 2 -i 4 c} 4 cos 2 θ ...... (25), However, for the ± sign, select the one where the right side of equation (26) is positive.

a, b, c are arbitrarily set constants, and θ is also obtained as a constant from the equation (12). The wire lengths A, B, C are variables and values measured by sensors. The coefficients k, i are obtained from (3) as a function of A, B, C. L, M, N is (2
3), (24) and (25) are obtained as functions of variables k and i. Therefore, S is obtained as a function of L, M, and N from equation (27). The position of the point P ′ is obtained as a point having a distance in the R direction ic from the point Q and a distance of s in the direction of the point S with respect to the side QR, for example, with reference to the side QR. The position of the point P is a position vertically downward from P ′ by a distance D shown below.

The control of the wire is as follows. As is well known, manipulator elbow and wrist wire connectors13
The position of the connection point with is obtained with respect to the base coordinate system 23 of the manipulator shown in FIG. 1 from the parameters of the links constituting the manipulator and the joint angles. Let T _E and T _{W be} coordinate transformation matrices from the base coordinate system 23 of the manipulator to the elbow coordinate system 24 and the wrist coordinate system 25, respectively. Further, the positions of the wire connection points P _E and P _W are determined by the elbow coordinate system 24 and the wrist coordinate system 25.
Is located L (FIG. 5) vertically above the coordinate origin. Coordinate belt P _E and P _W with respect to the base coordinate system 23 of the manipulator of the point P _E and the point P _W is as follows.

P _E = T _E I + L (29) P _W = T _W I + L (30) Here, I is a unit vector, L has a value of L only in the vertical axis direction, and the others are 0 vectors.

Next, a coordinate system 26 is added to each one point of the wire driving devices 6 and 9.
And 27, and the coordinate transformation matrix from the coordinate system 23 to the coordinate systems 26 and 27 is T _PW , the coordinate vectors P _CE and P _CW of the wire connection points viewed from the coordinate systems 26 and 27 are obtained by the following equations. .

P _CE ＝ T _PE ^-1 P _E・ ・ ・ (31) P _CW ＝ T _PW ^-1 P _W・ ・ ・ (31) By the above, if the joint angle of the manipulator is known, the target value of the coordinate of the wire connection point can be obtained. .

Assuming that the target value of the wire junction point P is given as the values of ic, s, D shown in FIG. 7, the wire lengths A, B,
C is obtained from the above relationship. That is, from equation (28), Since e ² = D ² + s ² , from equation (5), Furthermore, from equations (8) and (9), (13) from the _{equation, θ b = θ-θ c} ...... (37) (7), kb and r is determined from equation (10). From FIG. 7, f ² is obtained by the following equation.

f ² = r ² + D ² (38) Therefore, C is obtained from the equation (2) as follows.

Due to the movement of the manipulator, the coordinates of the wire connection point P change every moment, but the length of the wire is automatically adjusted so that the positions of the wire connection points P _E and P _W that support the elbow and wrist of the manipulator are adjusted accordingly. If adjusted, the wire connection point is always at a certain distance vertically above the elbow or wrist, so that the spring 11 can support the superposition of the arms constantly and simulate a weightless state.

FIG. 8 is a block diagram of a control device for controlling the wires. The manipulator control device 28 outputs a target value of each joint angle of the manipulator to the joint drive control device 29, and drives each joint drive motor 30. Manipulator control device
28 supplies the position data of the manipulator to the arithmetic unit 31. The arithmetic unit 31 calculates the length of the wire by performing the above-mentioned calculation based on this position data, and calculates the length of the wire.
Output to 32 and adjust the wire 33 to a predetermined length. FIG. 9 shows a processing flow of the arithmetic unit 31.

The length L of the wire connection can be changed by the spring 11. If the value of L is changed until the value of the load detected by the load cell 12 becomes the suspension overlap determined in advance by calculation or actual measurement, and the value of the length L is used as the calculation data, the suspension force is always It is a constant value that is equivalent to downward superposition.

FIG. 10 shows another example of the arrangement of the wire driving devices 6 and 9.
In this arrangement example, the operating area of the manipulator can be easily accommodated in the triangle formed by the wire driving device, but the wire 8 and the elbow joint 4 may interfere with each other, and the position of the ceiling must be set high.

Next, a second embodiment will be described. In this embodiment, the position information is not received from the manipulator, and
An oblique line sensor 14 and a distance sensor 34 for detecting a change in the distance L are used. The connecting means shown in FIG. 11 is an alternative to the connecting means shown in FIGS. 4 and 5, but is different from the connecting means shown in FIGS. 4 and 5 in that the inclination angle can be read more accurately. In the tilt sensor 14, the wire connecting point P is displaced in the horizontal direction from directly above the joint suspending position, and the wire connecting tool 13 is moved.
The inclination that occurs in is detected. In addition, the distance sensor 34 is a lifting device 35.
The change in the distance between the joint and the joint is detected. The suspending tool 35 is suspended by the wire 5 via the gimbal mechanism 36, and the angle can be freely changed. The rod 37 to which the inclination sensor 14 is attached is pushed up by a compression spring 39 via a thrust bearing 38 so that the rotation of the rod 37 is not restricted by the hanging member 35. The distance sensor 34 measures the displacement of the compression spring 39. The end of the rod 37 is attached to the suspension fitting 10 via a joint 40. The tilt sensor 14 is, for example, a pendulum type using a heavy sword, detects the tilt angle of the rod 37 with respect to the direction of gravity in a vertical plane including the boom 41 of the manipulator, and detects the tilt angle of the rod 37 in a direction perpendicular to the vertical plane. The inclination angle is also detected. From this inclination angle, it is possible to know how much the rod 37 is displaced from the point P when it is vertical. Further, since the displacement in the up-down direction can be known from the data of the displacement sensor 34, the length of the wire may be constantly adjusted so as to be in a normal state. The relationship between the angle and displacement is shown below.

As shown in Fig. 12, the coordinate system of the base of the manipulator
Assume that the azimuth of the joint of the manipulator with respect to a reference line 23A based on 23 is ξ, the inclination angle of the rod 37 in the vertical plane is δ ₁ , and the inclination angle of the rod 37 in the direction perpendicular to the vertical plane is δ ₂ . Further, assuming that the reference length including the rod 37 and the hanging bracket 10 is L ₁ , the reference length of the rod 37 is L _2, and the detection distance change amount of the distance sensor 34 is ΔL, the current position P with respect to the reference position P Is as follows in the illustrated coordinate system.

y ′ = (L ₂ + ΔL) sin δ ₂ (40) x ′ = {(L ₂ + ΔL) cos δ ₂ + (L ₁ −L ₂ )｝ sin δ ₁ (41) z = L ₁ − (L ₂ + ΔL) cosδ ₂ + (L ₁ −L ₂ )｝ cosδ ₁ (42) x = x′cosξ + y′sinξ = ξ (L ₂ + ΔL) cosδ ₂ + (L ₁ −L ₂ )｝ sin δ ₁ cos ＋+ ( L ₂ + ΔL) sin δ ₂ cosξ (43) y = −x′sinξ + y′cosξ = (L ₂ + ΔL) sin δ ₂ cos ξ − ｛(L ₂ + ΔL) cos δ ₂ + (L ₁ −L ₂ )｝ sin δ ₁ cosξ (44) The length of the wire may be determined and controlled by using the target value obtained by correcting the values of x, y, and z obtained as described above to the current position of the connection point of the wire.

In the processing apparatus of the present embodiment, in FIG. 8, there is no need for input from the manipulator control unit 28 to the arithmetic unit 31, and instead, the inclination angle sensor data δ ₁ and δ ₂ and the length change amount ΔL. And to enter. The flow of arithmetic processing is shown in FIG.

In this embodiment, the joint can be always suspended vertically by following the movement of the joint of the manipulator while keeping the suspension force constant. Since the movement of the manipulator is detected by the sensor, it is not necessary to connect the manipulator controller 28 and the arithmetic unit 31.

The third embodiment is shown in FIG. In the present embodiment, the position of the wire connection point P is directly measured using the three-dimensional position measuring device 42, and the values of the displacements x, y, z in the second embodiment are obtained by the joint obtained from the manipulator control device 28. Obtain the position in association with the data of the three-dimensional position measuring device, or
The two-dimensional position measuring device 42 is used to measure both the position of the wire connection point and the position of the joint, and these are determined together. The subsequent processing is the same as in the second embodiment. The joint position may be measured, and the length of the wire may be calculated and controlled based on this data.

The space manipulator has an extremely lightweight structure in order to reduce the finishing weight, and therefore has low rigidity and is likely to generate low-period vibrations. The wire must suspend the manipulator so that it does not interfere with the natural behavior of such a manipulator. For this purpose, it is necessary to use the spring 11 shown in FIG. 4 and the spring 39 shown in FIG.

In addition, since the method for adjusting the length of the wire described in the first embodiment and the method for adjusting the length of the wire described in the second embodiment are used together, the connection point of the wire is calculated. By adding a wire length correction value to correct the deviation between the actual position and the expected position of the manipulator detected by the sensor to the wire length, and controlling the wire length, a more accurate weightless simulation can be achieved. It is possible.

The fourth embodiment uses wire tension. Assuming that a load W is applied vertically downward to the connecting point of the wires, the resultant force of the three wires must be balanced with the load W, and the tension of each wire is expressed as follows from FIG. .

When the the _{ψ b ∠P'SF, W = W A} cosα + W B cosβ + W C cosγ ...... (45) W B sinβ = W A sinαsinθ b + W C sinγsinψ b ...... (46) W A sinαcosθ b = W C sinγcosψ b ... (47) (46), (47) from the _{equation, W B sinβ = W A sinα} (sinθ b + cosθ b tanψ b) ...... (48) (45), (47), from equation (48), therefore, From equation (48), From equation (47), here, It is. K is obtained from the equation (3). Further, when i is obtained from the equation (6) and s is obtained from the equation (27), γ is obtained from the equation (18). Therefore, the value of ψ _b0 is obtained from equation (53). On the other hand, (7), theta _b is obtained from equation (10). α, β, γ
Is obtained from the following equation if the value of D obtained from equation (28) from FIG. 7 and the lengths A, B, and C of the respective wires are known.

From the above, the tensions W _A , W _b , and W _C of each wire can be calculated from the equations (50), (51), and (52).

When the manipulator or the work target object moves, the equilibrium state is broken and the tension of each wire changes. If the wire tension is measured using the torque sensor 20 shown in FIG. 6 and the wire length is constantly controlled so that the measured wire tension substantially matches the calculated wire tension, the resultant force of the three wire tensions is Since it always balances with the weight of the manipulator and the work object and generates almost no horizontal force, it can simulate a weightless state.

When the manipulator works in space, the work object is also placed in a weightless environment. Therefore, in order to simulate the work situation in space on the ground, the work object must also be in a weightless state. Therefore, the above-described method is also applied to the work object, and one or several places of the work object are suspended by three wires. At this time, the length of the wire is controlled, for example, by setting a motion locus, and by controlling the position of the wire on the locus of the work object every moment, the locus motion can be performed on the work object. it can.
In addition, when a collision occurs with a manipulator, etc., the inclination sensor and the distance sensor operate, and the connection point of the wire moves in the direction of repulsion, so that the work target object floats, and the behavior of the work target object in a weightless environment Can also be simulated three-dimensionally.

〔The invention's effect〕

ADVANTAGE OF THE INVENTION According to this invention, since the arm of a manipulator can support the weight of an arm and can simulate a weightless state in the state which can move in a three-dimensional space, and the added mass is small, the test of the three-dimensional space motion of a space manipulator is carried out. Can be implemented systematically.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a first embodiment of a weightless simulation apparatus according to the present invention, FIG. 2 is a top view of a main part of the apparatus of FIG.
FIG. 1 is a side view of the apparatus shown in FIG. 1, FIG. 4 is a diagram showing an example of a structure of a wire connecting portion with respect to an elbow joint, and FIG. 5 is a diagram showing an example of a structure of a wire connecting portion with respect to a wrist joint. FIG. 7 is a diagram showing an example of the structure of a wire driving device, FIG. 7 is a diagram showing a position control method of a connecting point of a wire connector, FIG. 8 is a block diagram of a control device for controlling a wire, and FIG. 8 is a flowchart showing the processing of the arithmetic unit, FIG. 10 is a diagram showing another embodiment of the arrangement of the wire driving device, and FIG. 11 is a diagram showing a second embodiment of the structure of the wire connecting portion to the elbow joint. ,
FIG. 12 is a diagram showing a position control method of a connection point of a wire connection portion in FIG. 11, FIG. 13 is a flowchart of control of a position control method in FIG. 12, and FIG. 14 is a third method using a three-dimensional position measurement device. It is a figure which shows an Example. DESCRIPTION OF SYMBOLS 1 ... Arm, 2 ... Stand, 3 ... Ceiling board, 4 ... Elbow joint, 5 ... Wire, 6 ... Wire drive device, 7 ... Wrist joint, 8 ... Wire, 9 ... Wire drive, 10…
... hanging brackets, 11 ... springs, 12 ... load cells, 13 ... wire connectors, 14 ... tilt sensors, 15 ... base, 16 ...
Guide pulley, 17 ... winding drum, 18 ... rotation angle sensor, 19 ... winding drum drive motor, 20 ... torque sensor, 21 ... cross beam joint, 22 ... support bracket, 23 ... base coordinates Coordinate system, 24 …… Elbow coordinate system, 25 …… Wrist coordinate system, 26,27 ……
Wire drive device coordinate system, 28 manipulator control device, 29 joint drive control device, 30 joint drive motor,
31 arithmetic operation device, 32 wire drive control device, 33 wire, 34 distance sensor, 35 hanging device, 36 gimbal mechanism, 37 rod, 38 thrust bearing, 39
... compression spring, 40 ... joint, 41 ... boom, 42 ...
... three-dimensional position measuring device.

Claims (7)

(57) [Claims] 1. A wire group for suspending at least one portion of a manipulator or a work target object from three directions per wire via a wire connector, a wire driving device for adjusting the length of each wire, and the suspending A wire drive control that controls the wire drive device by adjusting the length of the wire according to the movement of the position and issuing a command to position the connecting point of each of the three wires almost directly above the hanging part. A weightless simulation device comprising a calculation device for outputting to the device. 2. The weightless simulation device according to claim 1, wherein the arithmetic unit is configured to convert data of a suspension target point from the manipulator or a manipulator control device driving the work object into a wire connection point target. A weightless simulating device, characterized in that the weightless simulation device is a calculation device that captures the position as a position and calculates the length of each wire for positioning the connection point of each of the three wires at the position based on the data of the target position. 3. The weightless simulation device according to claim 1, wherein the wire coupler detects an inclination sensor for detecting an inclination of the wire coupler, and a length between the wire coupler and a portion to be suspended. The arithmetic unit captures data of the inclination and the length from the inclination sensor and the distance sensor, and sets each of the wires so that the inclination and the length of the wire coupler always have a predetermined value. A weightless simulation device, which is a calculation device for calculating a length. 4. The weightless simulation device according to claim 1, wherein the wire coupler detects an inclination sensor for detecting an inclination of the wire coupler, and a length between the wire coupler and a suspending target portion. The arithmetic unit captures data of a hanging target position from the manipulator or a manipulator control device driving the work target object as a target position of a wire connection point, and based on the data of the target position. Calculates the length of each wire for positioning the connection point of each of the three wires at the corresponding position, and captures the inclination and length data from the tilt sensor and the distance sensor provided on the wire connector. And a calculation device for calculating a correction value of each wire length so that the inclination and the length of the wire coupling tool always have a predetermined value. Weightlessness simulation device characterized and. 5. A wire group for suspending at least one portion of a manipulator or an object to be worked from three directions for each portion via a wire coupler, a wire driving device for adjusting the length of each wire, and the manipulator or A three-dimensional position measuring device that measures the position of the work target object, and adjusts the length of the wire according to the movement of the hanging point measured by the three-dimensional position measuring device, and joins each of the three wires. An arithmetic unit for outputting a command for positioning a point substantially immediately above the hanging point to a wire drive control device that controls the wire drive device. 6. A wire group for suspending at least one portion of a manipulator or an object to be worked from three directions for each portion via a wire coupler, a wire driving device for adjusting the length of each wire, and A rotation angle sensor for detecting the length and a torque sensor for detecting the tension, and the tension of each wire is calculated based on the detected wire length.
A wire drive control for controlling the wire drive device to issue a command to position the connection point of each of the three wires substantially immediately above the suspension point so that the detected wire tension becomes equal to the calculated wire tension; A weightless simulation device comprising: a calculation device for outputting to the device. 7. The weightless simulation device according to claim 1, wherein the wire coupling tool uses the wire to perform natural behavior such as vibration and displacement of the manipulator or the work object. A weightless simulator that is equipped with a spring that allows a minute displacement so as not to be restrained.