Active gravity compensation test bed for a six-DOF free-flying robot
A novel active gravity compensation concept is proposed to simulate space on-orbit microgravity environments for free-flying robots on ground. Here, robots are suspended by active-controlled motion path tracking mechanisms through wires to compensate for gravitational forces. Based on the concept, an experimental test bed was designed and fabricated in laboratory to study on-ground kinematic and dynamic behaviors of a free-flying robot. The experimental fabrication contains an active horizontal motion tracking mechanism composed of primary and secondary active rotating arms. An multi-objective optimization method calculating the tension of the wires to minimize torques on robot joints is approved. The tension of the suspension wires is obtained through passive counterweights using pulley mechanisms. The kinematics and dynamics of a 6-DOF free-flying manipulator were calculated in MATLAB and simulated in MSC Adams under three working conditions: zero-gravity, gravity compensation and gravity. The lowest ratio of the torque compensation reached 80%. Agreements between numerical analyses and simulation results confirm the ability of this gravity compensation concept to simulate the kinematic and dynamic behaviors of free-flying manipulator in space.
Control Strategy of Master-Slave Manipulator Based on Force Feedback for Decommissioning of Nuclear Facilities
To improve operation and reduce labor intensity during the process of decommissioning of nuclear facilities, a master-slave manipulation robot system based on force feedback for decommissioning of nuclear facilities is proposed, which is divided into three parts: master hand, wall-through pipe, and slave hand. The structure of master hand is designed according to the human-computer interaction design to add the perception of force information based on position perception. The master-slave manipulation system adopts a force-position hybrid control strategy; the position and force are sent to master and slave hand to discover telepresence operation. Incremental position control method realizes the workspace mapping between the master and the slave manipulator to improve the accuracy of the following performance. The novel zero-length spring compensation is designed to recognize the total gravity compensation of the force feedback device. Finally, the relative experiments have verified the work effectiveness of the master-slave manipulation system.
The microscale obstacle-resolving meteorological model MITRAS v2.0: model theory
Abstract. This paper describes the developing theory and underlying
processes of the microscale obstacle-resolving model MITRAS version 2. MITRAS
calculates wind, temperature, humidity, and precipitation fields, as well as
transport within the obstacle layer using Reynolds averaging. It explicitly
resolves obstacles, including buildings and overhanging obstacles, to
consider their aerodynamic and thermodynamic effects. Buildings are
represented by impermeable grid cells at the building positions so that the
wind speed vanishes in these grid cells. Wall functions are used to calculate
appropriate turbulent fluxes. Most exchange processes at the obstacle
surfaces are considered in MITRAS, including turbulent and radiative
processes, in order to obtain an accurate surface temperature. MITRAS is also
able to simulate the effect of wind turbines. They are parameterized using
the actuator-disk concept to account for the reduction in wind speed. The
turbulence generation in the wake of a wind turbine is parameterized by
adding an additional part to the turbulence mechanical production term in the
turbulent kinetic energy equation. Effects of trees are considered
explicitly, including the wind speed reduction, turbulence production, and
dissipation due to drag forces from plant foliage elements, as well as the
radiation absorption and shading. The paper provides not only
documentation of the model dynamics and numerical framework but also a solid
foundation for future microscale model extensions.
