The FPGA-Based Bottom Control System Of Exoskeleton Hand

Along with the development of manned spaceflight project, it will be high request for the spacesuit's performance, especially for the extravehicular activities spacesuit. It not only provides the basal life security to the astronauts, but also has high joint mobility index, so the astronauts can fulfill all kinds of extravehicular activities with it. The astronauts almost perform extravehicular activities with hands, so the joint mobility of the extravehicular activities (EVA) glove which is the endmost operating device, directly affects the work ability of the astronauts.We design a bottom control system of the exoskeleton hand for EVA glove mechanics testing in this thesis, together with the exoskeleton hand, it establishes favorable foundation for the testing and designing of the EVA glove.First, the thesis introduces the testing principle of the exoskeleton hand, simply recommends the mechanical structure of one finger of the exoskeleton hand, describes the up and bottom control system and narrates the whole scheme for the bottom system in detail.Secondly, it describes the hardware system of the exoskeleton hand, including the circuit design of the driver, the FPGA-based motion controller, the processing and the A/D conversion for the sensor signal.Thirdly, the article describes the system on a programmable chip (SOPC) based on NiosII. It mainly contains the design of the NiosII soft-core processor, the VHDL programming of the module of the sensor's digital signal acquisition, the encoder signal processing and the motor control signal creating.Finally, the text validates the control function of the FPGA-based bottom control system trough the time simulation and the PD closed loop experiment.