| At present, the existing gravity compensation technology such as Air-bearing method and Hanging counterweight method, can’t completely simulate three-dimensional micro-gravity environment, and can’t work in the ordinary indoor laboratory environment. What’s more, the use of these methods is very high cost. Based on the present situation, and to meet the needs of more and more astronauts’weightlessness training in the future, it needs to study a new gravity compensation technology, which is low-cost and easy to operate. At the same time, the technology can also be applied to space manipulator ground microgravity experiments, human joint motion rehabilitation training and science education. So it has important theoretical research value and broad application prospects.In the paper, a new gravity compensation method is proposed based on the exoskeleton institutions and static balance principle, then, do some simulation analysis and experimental verification. In this paper, the main research content includes,(1) Based on the exoskeleton agencies and static balance principle, to study the gravity compensation system, and design a human weightlessness training gravity compensation package.(2) Based on the human motion capture system, to establish the body’s kinetic equation according to the theorem of momentum and moment of momentum theorem, and then use the least squares method to identify the inertial parameters of the multi-body system.(3) According to the proposed gravity compensation scheme, design the gravity compensation mechanism, especially for the springs. Then do some finite element analysis and optimization for the larger structure of the force components in the system design.(4) Establish a three-dimensional model of the gravity compensation system by using ADAMS software and LifeMOD software. Then do some dynamics analysis and experimental study. |
