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

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。我们还通过分析评估了模拟器的特性，并通过将其与微重力竖井设施中执行的真实的碰撞现象进行比较，通过实验验证了混合运动模拟的冲击动力学。5.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。

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.