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Optimal Design and force control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

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Chinese Journal of Mechanical Engineering 2019年第4期32卷 35-46页

作者： Wangmin Yi Yu Zheng Weifang Wang XiaoqiangTang Xinjun Liu Fanwei Meng Department of Mechanical Engineering Tsinghua University Beijing 100084China Beijing Institute of Spacecraft EnvironMent Engineering China Academy of Space Technology Beijing 100094 China Beijing Engineering Research Center of the Intelligent AsseMbly Technology and EquipMent for Aerospace Product Beijing Institute of Spacecraft EnvironMent Engineering Beijing 100094China School of Mechanical Engineering and AutoMation Beihang University Beijing 100191China Beijing Institute of Radio MeasureMent Second Research Institute of the China Aerospace Science and Industry Group Beijing 100854 China

Traditional simulation methods are unable to meet the requirements of lunar takeo simulations, such as high force output precision, low cost, and repeated use. Considering that cable-driven parallel mechanisms have the advantages of high payload to weight ratio, potentially large workspace, and high-speed motion, these mechanisms have the potential to be used for lunar takeo simulations. Thus, this paper presents a parallel mechanism driven by nine cables. The purpose of this study is to optimize the dimensions of the cable-driven parallel mechanism to meet dynamic workspace requirements under cable tension constraints. The dynamic workspace requirements are derived from the kinematical function requests of the lunar takeo simulation equipment. Experimental design and response surface methods are adopted for building the surrogate mathematical model linking the optimal variables and the optimization indices. A set of dimensional parameters are determined by analyzing the surrogate mathematical model. The volume of the dynamic workspace increased by 46% after optimization. Besides, a force control method is proposed for calculating output vector and sinusoidal forces. A force control loop is introduced into the traditional position control loop to adjust the cable force precisely, while controlling the cable length. The e ectiveness of the proposed control method is verified through experiments. A 5% vector output accuracy and 12 Hz undulation force output can be realized. This paper proposes a cable-driven parallel mechanism which can be used for lunar takeo simulation.

关键词： force control Lunar takeo simulation Parallel robots Surrogate mathematical model

High Precision Data-driven force control of Compact Elastic Module for a Lower Extremity Augmentation Device

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Journal of Bionic Engineering 2018年第5期15卷 805-819页

作者： Likun Wang Chaofeng Chen Zhengyang Li Wei Dong Zhijiang Du Yi Shen Guangyu Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Astronautics Harbin Institute of Technology Harbin 150001 China Weapon Equipment Research Institute China Ordnance Industries Group Beijing 102202 China

For human assistance device, the particular properties are usually focused on high precision, compliant interaction, large torque generation and compactness of the mechanical system. To realize the high performance of lower extremity augmentation device, in this paper, we introduce a novel control methodology for compact elastic module. Based on the previous work, the elastic module consists of two parts, i.e., the proximal interaction module and the distal control module. To improve the compactness of the exoskeleton, we only employ the distal control module to achieve both purposes of precision force control and human intention recognition with physical human-machine interaction. In addition, a novel control methodology, so-called high precision data-driven force control with disturbance observer is adopted in this paper. To assess our proposed control methodology, we compare our novel force control with several other control methodologies on the lower extremity augmentation single leg exoskeleton system. The experiment shows a satisfying result and promising application feasibility of the proposed control methodology.

关键词： series elastic actuator Human-Machine Interaction (HMI) force control model prediction control exoskeleton bioinspired

A novel grasping force control strategy for multi-fingered prosthetic hand

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Journal of Central South University 2012年第6期19卷 1537-1542页

作者：张庭姜力刘宏 State Key Laboratory of Robotics and System(Harbin Institute of Technology) Institute of Robotics and Mechatronics German Aerospace CenterMunich 82230Germany

A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.

关键词： grasping impedance control force control sliding mode control prosthetic hand

Multi-Channel force control System for Static Loading

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Journal of Beijing Institute of Technology 2003年第S1期12卷 1-6页

作者：陈彩可王军政马立玲李金仓 Dapartment of Automatic control School of Information Science and TechnologyBeijing Institute of TechnologyBeijing 100081China

An eight-channel force loading system is presented, which adopts position control system and force control system switching model, small flow servo valve controlled capacious cylinder system scheme, intelligent PID algorithm and distributed load approach. Through the analyses of the equivalent model of valve controlled cylinder force subsystem, a controller based on intelligent PID algorithm is designed, which is not sensitive to the variation of parameters such as environmental stiffness. According to the coupling of multiple load channels, a distributed load approach is employed in the superior monitor computer. Experimental results show that the system designed has high precision and robustness.

关键词： electro-hydraulic servo loading system static force loading force control

Research on force control of Human-Machine Interaction Based on Game Theory and PID control

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Research on Force Control of Human-Machine Interaction Based...

THE EXPERIMENT RESEARCH OF force control BASED ON INTELLIGENT PREDICTION IN UNKNOWN ENVIRONMENT

第37届中国控制会议

作者： Fangxing Li Xing Du Jian Li Zhen Li Liwei Shao Intelligent Robotics Institute Beijing Institute of Technology School of Automation Beijing Institute of Technology Research Institute of BIT in Zhongshan

This paper proposes a framework to control the contact force in human-machine interaction based on game theory and PID *** force control model of human-machine interaction is established at first,and the game theory is then applied in force control of the derived *** force control strategy is accordingly obtained by solving the Nash equilibrium in the game based on the force and velocity.A hybrid control strategy based on game theory and PID control is *** is further used to perform the human-machine interaction in the process of muscle *** feasibility and performance of the proposed control design is verified by simulation and experiment results.

关键词： Human-machine interaction force control game theory

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THE EXPERIMENT RESEARCH OF FORCE CONTROL BASED ON INTELLIGEN...

A Novel force control Method of Lower Limb Exoskeleton Based on Dual Foot force Sensors

2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会

作者： WANG Lei*, HAO Yongping*,WANG Fei *R&D Center of CAD/CAM Technology, Shenyang Ligong University, Shenyang 110168, China School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China

An intelligent prediction algorithm arising from conventional force control models is developed to deal with a force-controlled execution of compliant robot tasks in an unknown environment. The algori

关键词： Robot force control intelligent prediction unknown environment fuzzy control.

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A Novel Force Control Method of Lower Limb Exoskeleton Based...

基于force control的镍渣粉储运集中控制系统的设计

第30届中国控制与决策会议

作者： Han Wu Hongxu Ma Qing Wei Jian Wang Honglei An College of Intelligence Science and Engineering National University of Defense Technology

Exoskeleton is a kind of wearable robot that can help human achieve special targets. The study comes up with a novel force control method based on dual foot force sensors, named proportional force control. First a dual foot force sensors mechanism is introduced, and then a simpler one dimension lower limb model is presented in order to analysis the human machine system conveniently. After that two normal control methods（trajectory tracking control and desired force control） are listed for the purpose of being compared with the proportional force control. At last simulations are carried out and the results show that force control based on dual foot force sensors can augment human strength proportionally as well as feedback pilots a kind of directly perceived feeling.

关键词： Exoskeleton Lower Limb force control Augmentation

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中国水泥 2020年第1期 85-88页

作者：张宣超中建材(合肥)机电工程技术有限公司合肥230051

某水泥有限公司镍渣输送、掺料项目于2017年3月~8月完成设计、施工、调试、投产等相关工作,该控制系统是基于force control和西门子S7-1200 PLC设计而成,实现了操渣粉储存、输送、定量掺配,同时系统还具备实时在线标定、产量统计报表、... 详细信息

某水泥有限公司镍渣输送、掺料项目于2017年3月~8月完成设计、施工、调试、投产等相关工作,该控制系统是基于force control和西门子S7-1200 PLC设计而成,实现了操渣粉储存、输送、定量掺配,同时系统还具备实时在线标定、产量统计报表、系统电力能耗统计等功能。

关键词： force control S7-1200 PLC 集中控制镍渣粉输送计量掺配

A Review of Robotic force/Position control

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International Journal of Plant Engineering and Management 2013年第1期18卷 58-64页

作者： LIU Zong-bin LIU Xiang-fa Branch of Wuxi Special Equipment Safety Supervision Institute of Jiangsu Province Weifang University of Science and Technology

This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.

关键词： position control force control explicit control implicit control feedback