Study on Ultra High-Speed Micro-Gravity Simulator Based Space Telerobotics

在本项目中，我们主要研究了一种超高速微重力混合模拟器，它可以模拟微重力环境下物体与空间遥操作机器人之间的相互作用等复杂运动。所研制的混合模拟器主要依靠数值计算，能够实现较精确的模拟。此外，为了实现高带宽响应，它在物理部分采用了HEXA型高速并联机器人。仿真结果以计算机图形的形式显示。该项目实现的突出目标如下1.搭建了混合运动模拟器的样机，并对其频响带宽和基本性能进行了实验研究。利用模拟器系统的阻抗对相互作用力和力矩进行建模，以达到精确的仿真结果。为了验证上述模型的有效性，对刚体之间的相互作用进行了仿真。此外，为了展示多点接触运动，还对三指手臂进行了同样的仿真。我们还对模拟器的特性进行了分析评估，并通过与微重力落杆装置中的真实碰撞现象进行比较，从实验上验证了混合运动模拟的冲击动力学。在开发的混合模拟器中增加了遥操作设施。因此，操作员现在可以远程操作要用混合模拟器模拟其运动的空间机械手的图形模型。

In this project, we mainly studied an ultra high-speed micro-gravity hybrid simulator which can simulate complicated motions such as involved in the interactions between an object and a space telerobot under the micro-gravity environment. The developed hybrid simulator is able to realize a relatively precise simulation since it mainly depends on numerical calculations as much as possible. In addition, to achieve a high band-width response, it employs a HEXA-type high-speed parallel link robot in its physical part. The simulation results are displayed with the computer graphics. The salient goals achieved in this project are addressed bellow.1. A prototype of the hybrid motion simulator has been constructed and the experiments to evaluate its frequency response bandwidth and the basic performance, are conducted.2. The interaction forces and torques are modeled by the impedance of the simulator system to achieve the precise simulation results.3. To evaluate the above-proposed modeling, the interactions between the rigid bodies have been simulated. Moreover, to exhibit a multi-point contact motion, the same simulations are also performed with a three-fingered hand.4. We have also evaluated the simulator's characteristics, analytically, and verified the impact dynamics of the hybrid motion simulation, experimentally, by comparing it with a real collision phenomenon executed in a micro-gravity drop-shaft facility.5. The teleoperation facility has been added to this developed hybrid simulator. Consequently, an operator can now teleoperate a graphics model of a space manipulator whose motions are to be simulated with the hybrid simulator.