美(mei)國斯坦福大(da)學雙臂空間機(ji)器人空中實驗體系

為確保空間(jian)機械人(ren)正(zheng)(zheng)在軌(gui)使命的(de)(de)(de)(de)樂成施行(xing)，須(xu)要正(zheng)(zheng)在空中(zhong)(zhong)展開充裕的(de)(de)(de)(de)實(shi)驗(yan)(yan)以考證和評價空間(jian)機械人(ren)的(de)(de)(de)(de)途徑計劃、節制算法(fa)等(deng)關鍵技術(shu)。正(zheng)(zheng)在空中(zhong)(zhong)展開實(shi)驗(yan)(yan)考證，難點(dian)是(shi)須(xu)要模(mo)仿空間(jian)的(de)(de)(de)(de)微重(zhong)(zhong)力(li)環(huan)境(jing)，由道理上(shang)講，微重(zhong)(zhong)力(li)環(huan)境(jing)的(de)(de)(de)(de)發生(sheng)一樣(yang)平(ping)常有(you)三種道理：自(zi)由落(luo)體(ti)(ti)運動，可構(gou)成失重(zhong)(zhong)環(huan)境(jing)，如(ru)果(guo)正(zheng)(zheng)在微重(zhong)(zhong)力(li)塔中(zhong)(zhong)開釋(shi)空間(jian) 機械人(ren)；應用地球引力(li)干勻速圓周運動，如(ru)果(guo)正(zheng)(zheng)在航天飛機或空間(jian)站上(shang)展開的(de)(de)(de)(de)微重(zhong)(zhong)力(li)實(shi)驗(yan)(yan)；應用平(ping)衡力(li)抵消(xiao)重(zhong)(zhong)力(li)，如(ru)采取吊絲配(pei)重(zhong)(zhong)、氣足支持或中(zhong)(zhong)性液體(ti)(ti)的(de)(de)(de)(de)浮力(li)抵消(xiao)重(zhong)(zhong)力(li)，亦可構(gou)成微重(zhong)(zhong)力(li)環(huan)境(jing)。由事實(shi)體(ti)(ti)系(xi)(xi)的(de)(de)(de)(de)實(shi)現(xian)上(shang)講，現(xian)階段的(de)(de)(de)(de)空間(jian)機械人(ren)空中(zhong)(zhong)實(shi)驗(yan)(yan)體(ti)(ti)系(xi)(xi)主要有(you)六類(lei)：基(ji)于自(zi)由落(luo)體(ti)(ti)運動的(de)(de)(de)(de)實(shi)驗(yan)(yan)體(ti)(ti)系(xi)(xi)、基(ji)于拋物線飛翔的(de)(de)(de)(de)實(shi)驗(yan)(yan)體(ti)(ti)系(xi)(xi)、氣浮式空中(zhong)(zhong)實(shi)驗(yan)(yan)體(ti)(ti)系(xi)(xi)、水浮式空中(zhong)(zhong)實(shi)驗(yan)(yan)體(ti)(ti)系(xi)(xi)、吊絲配(pei)重(zhong)(zhong)實(shi)驗(yan)(yan)體(ti)(ti)系(xi)(xi)和硬(ying)件(jian)正(zheng)(zheng)在回(hui)路的(de)(de)(de)(de)夾雜空中(zhong)(zhong)實(shi)驗(yan)(yan)體(ti)(ti)系(xi)(xi)(數學模(mo)型取實(shi)物相結合(he)的(de)(de)(de)(de))。

　　各類實(shi)(shi)(shi)驗(yan)體(ti)(ti)系(xi)(xi)擁有沒(mei)有同(tong)的(de)(de)實(shi)(shi)(shi)現(xian)體(ti)(ti)式格局(ju)和使用配景(jing)，還擁有沒(mei)有同(tong)的(de)(de)優錯誤(wu)(wu)謬(miu)誤(wu)(wu)。基(ji)于自由落體(ti)(ti)運(yun)動(dong)的(de)(de)實(shi)(shi)(shi)驗(yan)體(ti)(ti)系(xi)(xi)能夠舉行(xing)三(san)維空(kong)(kong)(kong)(kong)間(jian)(jian)(jian)的(de)(de)微(wei)重(zhong)(zhong)力(li)實(shi)(shi)(shi)驗(yan)，能發(fa)生近零重(zhong)(zhong)力(li)環(huan)境，然(ran)則空(kong)(kong)(kong)(kong)間(jian)(jian)(jian)機(ji)械(xie)人的(de)(de)外形尺寸受限定，單次(ci)微(wei)重(zhong)(zhong)力(li)實(shi)(shi)(shi)驗(yan)時候短(duan)(duan)。基(ji)于拋物線(xian)航行(xing)的(de)(de)實(shi)(shi)(shi)驗(yan)體(ti)(ti)系(xi)(xi)的(de)(de)微(wei)重(zhong)(zhong)力(li)級(ji)別較高，錯誤(wu)(wu)謬(miu)誤(wu)(wu)同(tong)基(ji)于自由落體(ti)(ti)運(yun)動(dong)的(de)(de)實(shi)(shi)(shi)驗(yan)體(ti)(ti)系(xi)(xi)相似(si)，而且(qie)實(shi)(shi)(shi)驗(yan)后的(de)(de)數(shu)據處理較費事。平面氣浮(fu)(fu)式實(shi)(shi)(shi)驗(yan)體(ti)(ti)系(xi)(xi)手藝成熟，建筑周期(qi)短(duan)(duan)，易于實(shi)(shi)(shi)現(xian)及(ji)保(bao)護，適應性強(qiang)，對機(ji)械(xie)人的(de)(de)布局(ju)沒(mei)有太多限定，然(ran)則只(zhi)會實(shi)(shi)(shi)現(xian)平面的(de)(de)微(wei)重(zhong)(zhong)力(li)實(shi)(shi)(shi)驗(yan)(二維的(de)(de)平動(dong)和一(yi)維的(de)(de)滾(gun)動(dong))。水(shui)浮(fu)(fu)式實(shi)(shi)(shi)驗(yan)體(ti)(ti)系(xi)(xi)請求空(kong)(kong)(kong)(kong)間(jian)(jian)(jian)機(ji)械(xie)人原型樣機(ji)沒(mei)有能直接在(zai)水(shui)浮(fu)(fu)體(ti)(ti)系(xi)(xi)上舉行(xing)測試(shi)，必需舉行(xing)專(zhuan)門(men)的(de)(de)設計以避免受到(dao)水(shui)下環(huan)境的(de)(de)危(wei)害，別的(de)(de)，水(shui)的(de)(de)阻力(li)和慣量會改變空(kong)(kong)(kong)(kong)間(jian)(jian)(jian)機(ji)械(xie)人的(de)(de)動(dong)力(li)學特征(zheng)。吊(diao)絲配重(zhong)(zhong)體(ti)(ti)系(xi)(xi)的(de)(de)長處是能夠舉行(xing)三(san)維空(kong)(kong)(kong)(kong)間(jian)(jian)(jian)的(de)(de)重(zhong)(zhong)力(li)抵(di)償，實(shi)(shi)(shi)驗(yan)時候沒(mei)有受限定，但精度(du)沒(mei)有夠高，難以辨識懸吊(diao)體(ti)(ti)系(xi)(xi)的(de)(de)動(dong)摩擦力(li)，因為空(kong)(kong)(kong)(kong)間(jian)(jian)(jian)機(ji)械(xie)人和懸吊(diao)體(ti)(ti)系(xi)(xi)之間(jian)(jian)(jian)存(cun)在(zai)耦(ou)合振動(dong)，還可能使得全部體(ti)(ti)系(xi)(xi)沒(mei)有穩(wen)定。