外骨骼机构舱外航天服手套阻尼的测量与Preisach建模

方红根 1; 史士财 1; 刘宏 1; 2; 李潭秋 3

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外骨骼机构舱外航天服手套阻尼的测量与Preisach建模

专题研究 | 更新时间：2025-12-08

- 外骨骼机构舱外航天服手套阻尼的测量与Preisach建模
- Damping Parameters Measurement and Preisach Modeling of Extra Vehicular Activity Glove Based on Exoskeleton Mechanism
- 西安交通大学学报 2008年42卷第7期页码：891-894+899
- 作者机构：
  
  哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001
- 作者简介：
- 基金信息：
  
  : 2007-11-18. 作者简介:方红根(1977-),男,博士生;刘宏(联系人),男,教授,博士生导师. 基金项目:国家高技术研究发展计划资助项目(2006AA04Z255)
- DOI：
  中图分类号： R852.81
- 网络首发：2008-07-10，
  
  纸质出版：2008
- 稿件说明：
移动端阅览
方红根 1, 史士财 1, 刘宏 1, 等. 外骨骼机构舱外航天服手套阻尼的测量与Preisach建模[J]. 西安交通大学学报, 2008,42(7):891-894+899.

方红根 1, 史士财 1, 刘宏 1, et al. Damping Parameters Measurement and Preisach Modeling of Extra Vehicular Activity Glove Based on Exoskeleton Mechanism[J]. 2008, 42(7): 891-894+899.
方红根 1, 史士财 1, 刘宏 1, 等. 外骨骼机构舱外航天服手套阻尼的测量与Preisach建模[J]. 西安交通大学学报, 2008,42(7):891-894+899. DOI：

方红根 1, 史士财 1, 刘宏 1, et al. Damping Parameters Measurement and Preisach Modeling of Extra Vehicular Activity Glove Based on Exoskeleton Mechanism[J]. 2008, 42(7): 891-894+899. DOI：

摘要

以宇航员出舱活动为背景

针对内置式测量的缺点

利用平行四边形连杆和齿轮的组合设计了一种外骨骼机构.该机构能在舱外航天服(EVA)手套的背部驱动下产生模拟人手弯曲和伸展运动

同时位于指尖的力传感器输出运动过程中的阻尼力

该阻尼力可达10 N

滞后可达31%.为便于对阻尼力进行数值预测及舱外活动功效仿真

应用Preisach(简称P模型)获得一阶转换曲线的方法

对EVA手套的滞后特性进行数学建模

由于P模型在数值计算时需考虑2种情况

因此通过记录记忆曲线上顶点数的方法导出统一计算公式

并采用基于距离权重的插值算法来计算离散P模型平面非节点区域的Everett函数值.最后

通过实验验证了该建模的有效性.

Abstract

By combination of parallelogram link and gear

a new type of exoskeleton mechanism is developed. As placed on the back of extra vehicular activity(EVA)glove in an external way

this mechanism is able to drive the EVA glove finger to extent or flex like human finger grasp motion.The force sensor located at the tip of exoskeleton mechanism measures the EVA glove damping forceduring flexion or extension. The force reaches even to 10 N and the hysteresis of the force approaches to 31%.To predict the force which corresponds to an angular displacement of EVA glove and simulate the human factors performance metrics of extra vehicular activity

an unified Preisach numerical calculating strategy ispresented by recording the number of vertices of the interface line in discrete Preisach plane and getting a series of first order reversal curves. A distance-weighted interpolation is chosen to evaluate at the pointsbelonging to the Preisach plane except the discrete grid points. The proposed method is validated by the experiments.

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references

BUHMAN D C, CHERRY J A.Effects of glove,orientation pressure load and handle on submaximal grasp force [J].Int J of Ind Ergonomics,2000,25(1):24-25.

BISHU R R, KLUTE G. The effects of extra vehicular activity(EVA)gloves on human performance[J].Int J of Ind Ergonomics,1995,16(4):165-174.

LEE G R.Development of a mechanical test apparatus for space gloves[D]. Maryland, USA:Space System Laboratory of University of Maryland,2001.

MAYERGOGZ I. Mathematical models of hysteresis [M].New York,USA:Springer,1991: 7-41.

LI Fan,ZHAO Jianhui. Discrete methods based on first order reversal curves to identify Preisach model of smart materials[J].Chinese Journal of Aeronautics,2007,20(3):157-161.

GONG G, ZHAO Jinqiang. Tracking control of a piezoceramic actuator with hysteresis compensation using inverse Preisach model [J].Transaction on Mechatronics,2005(10):198-209.

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SHUHEI N,HIROYUKI K,NAOKI K,et al.An encounter type multi-fingered master hand using circui-tous joint[C]∥IEEE International Conference on Robots and Automation. Piscataway, NJ,USA:Institute of Electrical and Electronics Engineers Inc,2005:2667-2672.

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