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

基于超高速微重力模拟器的空间遥控机器人研究

• 批准号: 10450093
• 负责人: UCHIYAMA Masaru
• 金额: $ 4.42万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B).
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-10450093/
• 关键词: Micro-Gravity Simulator; Hybrid Simulator; Ultra High-Speed Mechanism; Parallel Robot; Space Robot; Teleoperation; Telerobotics; Real-Time Control; 微小重力シミュレータ; 実時間制御システム

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.

本项目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相互作用等复杂运动。所开发的混合模拟器能够实现一个相对精确的模拟，因为它主要依赖于数值计算尽可能多。此外，为了实现高带宽响应，它在其物理部分采用了HEXA型高速并联机器人。仿真结果用计算机图形显示。本项目实现的主要目标如下。搭建了混合式运动模拟器样机，并对其频响带宽和基本性能进行了实验评估.通过仿真系统的阻抗来模拟相互作用力和力矩，以获得精确的仿真结果.为了评估上述提出的建模，已经模拟了刚体之间的相互作用。此外，为了展示多点接触运动，还用三指手进行了相同的模拟。我们还评估了模拟器的特点，分析，并验证了混合运动模拟的冲击动力学，实验，通过比较它与真实的碰撞现象在微重力落轴设施。遥操作设施已被添加到这个开发的混合动力模拟器。因此，操作员现在可以远程操作的空间机械手的运动是用混合模拟器模拟的图形模型。

项目成果

猪平 他: "超高速パラレルロボットの設計・開発・評価"日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集. 1AII2-5 (1998)

Inohei 等人：“超高速并行机器人的设计、开发和评估”日本机械工程师学会机器人和机电一体化会议 98 会议记录 1AII2-5 (1998)。

S.Tarao, E.Inohira, T.Akima and M.Uchiyama: "Motion Simulation Using a High-Speed Parallel Link Mechanism"Proceedings of 9th Workship on Astrodynamics and Flight Mechanics. 271-276 (1999)

S.Tarao、E.Inohira、T.Akima 和 M.Uchiyama：“使用高速并联机构的运动模拟”第九届天体动力学和飞行力学研讨会论文集。

S.Tarao, E.Inohira and M.Uchiyama: "Hybrid Motion Simulation of a Space Robot's Target Capturing Task"Proceedings of the 2000 JSME Conference on Robotics and Mechatronics. 2P1-08-001(in Japanese). (2000)

S.Tarao、E.Inohira 和 M.Uchiyama：“空间机器人目标捕获任务的混合运动模拟”2000 年 JSME 机器人和机电一体化会议论文集。

T.Akima 他: "Hybrid Micro-Gravity Simulator Consisting of a High-Speed Parallel Robot"Proc.1999 IEEE Int.Conf.on Robotics and Automation. 901-906 (1999)

T. Akima 等人：“由高速并联机器人组成的混合微重力模拟器”Proc.1999 IEEE Int.Conf.on 机器人与自动化 901-906 (1999)。

E.Inohira, S.Yukawa, T.Akima and M.Uchiyama: "Design, Development and Evaluation of a High-Speed Parallel Robot"Proceedings of the 1998 JSME Conference on Robotics and Mechatronics. 1AII2-5(in Japanese). (1998)

E.Inohira、S.Yukawa、T.Akima 和 M.Uchiyama：“高速并联机器人的设计、开发和评估”1998 年 JSME 机器人和机电一体化会议论文集。