Autobalancing control for a reduced gravity simulator

Paz, R.A.; Barajas, Jose C.; Ma, Ou

doi:10.1109/aim.2013.6584125

Cited by 6 publications

(4 citation statements)

References 12 publications

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“…In fact, this subsystem allows an actuated adjustment of the spring connection points A1 and A2 to fit the attached individual. Details of this adjustment subsystem has been reported in [25]. It should be emphasized that such an adjustment is needed only when switching to a different person or changing the desired G level.…”

Section: B Adjustment For Desired Gravity Levelmentioning

confidence: 98%

A reduced-gravity simulator for physically simulating human walking in microgravity or reduced-gravity environment

Xiu

Ruble

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Astronauts must go through extensive training of their tasks in a simulated microgravity or reduced-gravity environment before they can perform the same tasks in space. Scientists and engineers also need simulated reduced-gravity facilities to study human performance and factors in space. This paper presents a novel design and prototype test of a multi-DOF reduced-gravity simulator which can be used for training astronauts and studying human factors in zero or partial gravity environment. Designed based on the passive static balancing technology, the simulator can passively compensate the gravity force applied to a human to any level from 0 to 100% at all the configurations within its workspace. Therefore, a person attached to the simulator can biomechanically feel like he/she were in a real reduced-gravity environment while doing a physical activity such as walking or jumping. A prototype of the simulator was developed to study the feasibility and dynamic performance of the system. The prototype study demonstrated the reduced-gravity simulation capability of the system. It also revealed some interesting findings which motivate further research in the future.

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Section: B Adjustment For Desired Gravity Levelmentioning

confidence: 98%

A reduced-gravity simulator for physically simulating human walking in microgravity or reduced-gravity environment

Xiu

Ruble

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…They are mechanically locked once the right adjustment positions have been reached. Should we design and build a full-scale prototype in the future for testing a real satellite, these spring and pulley adjustments can be made automatically controlled by a mechatronic system just like the system that we are building for simulating human activities in space [10,11].…”

Section: A Prototype For Demonstrationmentioning

confidence: 99%

A New Technology for Physically Simulating 3D Free Floating and Rotating of an Object in Zero-Gravity Environment

Ruble

2013

AIAA Modeling and Simulation Technologies (MST) Conference

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This paper presents a novel simulation technology for physically simulating an object to freely float and/or rotate in 3D space. The simulation technology compensates the gravity effect in all the 6 degrees of freedom (DOFs) using springs and a multi-DOF mechanism, which keeps the potential energy of the entire system unchanged for all the configurations within the workspace of the mechanism. A simulation platform designed based on the technology is a passive mechanical system and thus, such a device is inexpensive, reliable, and very easy to use and maintain. A hardware prototype of such a zero-gravity simulation platform has been designed, built and tested. It has shown that a satellite mockup on the platform can freely float and tumble freely in all three axes for a very long time just as it would do in orbit. If the system is scaled up, it can be used to test free floating and tumbling of a satellite or another space object in 3D space for scientific studies or engineering tests of various on-orbit service technologies such as tracking, estimating, rendezvousing and docking, robotic capturing, or other service tasks. It can also be equipped with actuators for testing propulsion and attitude control techniques.

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“…Also in paper [21] is proposed a more complicated solution with prismatic joints. A simple solution with only one adjusting of a joint of spring on vertical direction is proposed in Reference [22]. The adjusting of the other joint of spring (the one joined to the balanced One of the solution is to remove one of the spring joints and to intercalate some linkages with zero degrees of freedom [20,25].…”

Section: Adaptive Balancing By Using Springsmentioning

confidence: 99%

“…As for the adaptation to the variation of the payload in case of robots and automatized mechanical systems many ideas are proposed in scientific papers or patents passed years [2,[21][22][23][24] but no realization in practice for these domains. If there are some adjustments in order to adapt to the variation of payload they are made off-line [6,9,21] while mechatronic system is in a rest state.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Balancing of Robots and Mechatronic Systems

Ciupitu

2018

Robotics

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Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are rocking in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed, and an example is shown. The results show that a very simple passive solution which is using for gravity compensation a simple translational counterweight (that could be for example the actuating motor itself) articulated by one single bar leads to very good results in case of approximate balancing when the payload has a known variation.

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Autobalancing control for a reduced gravity simulator

Abstract: Physical simulation of a reduced gravity condition significantly aids astronaut training, biomechanics researchers, neuro-rehabilitation practitioners as well as other potential applications. This paper provides means for automatically balancing a simple reduced gravity platform.

Cited by 6 publications

References 12 publications

A reduced-gravity simulator for physically simulating human walking in microgravity or reduced-gravity environment

A reduced-gravity simulator for physically simulating human walking in microgravity or reduced-gravity environment

A New Technology for Physically Simulating 3D Free Floating and Rotating of an Object in Zero-Gravity Environment

Adaptive Balancing of Robots and Mechatronic Systems

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