Gravity Compensation System Research Articles

Design and evaluation of a four-DoF upper limb exoskeleton with gravity compensation

Gravity compensation (GC) mechanisms are commonly employed to either support limb gravity in passive exoskeletons or decrease motor power for safe human-robot interaction in active exoskeletons. This paper proposes a four-degree-of-freedom (DoF) upper limb exoskeleton with a theoretically perfect GC system, incorporating three DoFs in the shoulder and one DoF in the elbow. Paired with the anthropomorphic structure, the compact and adjustable GC system housed within the exoskeleton's linkages, reduces limitations on the limb's motion range and facilitates the integration of actuators for an active system. First, the GC system is designed through the analysis of potential energy equations, employing five cable-pulley-spring based units interconnected by parallel and differential mechanisms. Subsequently, the mechanical structure of the exoskeleton is developed, and the theoretically perfect GC in the quasi-static state is verified through numerical calculations. Then, the prototype is fabricated, and its actual performance is evaluated through experiments. The experimental results demonstrate the effectiveness of the exoskeleton with GC. Finally, a potential solution for the integration of actuators is demonstrated, and the limitation of the proposed system is also well discussed.

Folding, stowage, and deployment of composite thin-walled lenticular tubes

Composite thin-walled lenticular tube (CTLT) is a lightweight foldable and deployable structural material that enables large-scale deployable mechanisms for various space missions. A key step toward the structural design of CTLT is to understand its folding, stowage, and deployment behaviors. This work presents an integrated experimental and numerical investigation of the dynamic deployment behavior of CTLT that wraps around a central hub, with emphasis on the effect of long-term storage. A two-meter-long CTLT prototype was manufactured, and a gravity compensation system was designed and built for the on-ground dynamic deployment experiments. The deployment experiments were performed on the CTLT prototype both before and after it had been stowed for extended storage periods. The results indicate that after being stowed for 6 and 10.5 months the CTLT is deployed slower and the deployment time increases by 8.2% and 15.0%, respectively. Furthermore, a high-fidelity numerical model was constructed using the explicit dynamic finite element method, where the CTLT was modeled as a deformable part and the folding/deployment mechanisms were modeled as rigid bodies to perform the folding, stowage, and deployment simulations. The long-term storage effect was accounted for in the numerical analyses with the use of a viscoelastic fiber-reinforced composite material model, and a good agreement has been achieved between the experimental and numerical results.

Robot-Assisted Gravity Offloading Testing of Aerospace Structures

Abstract The demand for testing aerospace structures on Earth before they are launched into space has led to the development of equipment that is able to simulate orbit conditions, namely zero gravity. Several passive solutions have been proposed to perform offloading testing on Earth. However, they present limitations and lack the flexibility normally required by the complexity of the pathways. Active zero gravity emulation systems have been developed to mitigate the difficulties of the passive ones. Moreover, the emergence of robotic arms with the ability to perform complex and easily reprogrammable motion and force-controlled trajectories has opened the possibility of creating robot-based gravity compensation systems. This paper proposes and evaluates a solution for the gravity offloading testing of space devices based on currently available industrial robots. This solution takes advantage of the functionalities of collaborative robots, namely built-in force controllers, together with custom auxiliary subsystems. A setup was arranged to allow the communication between the robot controller and a computer running an internet of things (IoT) platform based on Node-RED so as to connect and control all components of the offloading system. Multiple robot control techniques were designed and tested based on several approaches employing impedance control functionalities and sensing data to create a closed-loop system. The results obtained are within the validation criteria, creating conditions to affirm for the application in question that the gravity compensation was achieved with success using the robot.

Novel ground microgravity experiment system for a spacecraft-manipulator system based on suspension and air-bearing

With the development of aerospace technology, the on-orbit activities of large spacecraft are increasing day by day, and accordingly the amount of space debris is increasing. Therefore, a large spacecraft-manipulator system is needed to perform on-orbit service, such as, assembling large spacecraft and removing space debris. Before launching, the trajectory optimization and control algorithm of the spacecraft-manipulator system have to be verified on the ground microgravity experiment system since the complex systems are prone to failure. In this study, a ground microgravity experiment system based on suspension and air-bearing is proposed to provide a long-term and stable microgravity environment for the large spacecraft-manipulator system. A suspension gravity compensation system with multiple suspensions is designed for the redundant space manipulator that moves in three dimensions, and a suspension tracking smooth sliding mode control algorithm based on hierarchical control is presented. Then, the coupling-reduction strategy based on equivalent spring-mass is presented to reduce the electromechanical coupling of the suspension gravity compensation system and the space manipulator. For the roll and pitch motion of the large-mass/inertia spacecraft, the target spacecraft simulator with a 2-degree-of-freedom rotating mechanism is designed. Some air-bearings are installed on the base of the chaser spacecraft simulator and target spacecraft simulator, which produce an air gap to enable the frictionless plane motion of the spacecraft. Finally, the target spacecraft simulator transposition experiment was carried out. The results show that the residual torque of the space manipulator is very small, and the ground microgravity experiment system compensates the gravity of the spacecraft-manipulator system with high precision.

Analysis of Explicit Model Predictive Control for Track-Following Servo Control of Lunar Gravity Compensation Facility

The Lunar Gravity Compensation Facility (LGCF) is a critical component in ground tests for a crewed lunar roving vehicle (CLRV). The track-following servo subsystem’s performance is of critical importance in the LGCF, as it needs to achieve high-precision tracking of the CLRV’s fast, wide range of motion in the horizontal direction. The subsystem must also operate within various constraints, including those related to speed, acceleration, and position. These requirements introduce new challenges to both the design and control of the subsystem. To tackle these challenges, this paper employs a Permanent-Magnet Synchronous Motor (PMSM) vector control method based on Space Vector Pulse Width Modulation (SVPWM) to achieve accurate speed tracking. Additionally, this paper presents an Explicit Model Predictive Control (EMPC) strategy for precise position servo control of the track-following system under multi-parameter constraints. The simulation model of the track-following servo subsystem is established based on the above methods. The simulation results demonstrate that the position tracking error of the gravity compensation system, constructed using the above method combined with EMPC control, is less than 0.2 m. The control performance of the EMPC is significantly better than those of the PI and LQI controllers. The influence of errors on the drawbar pull is within 12.5%, and its effect on the compensation force is negligible. These results provide theoretical support for the design of a track-following servo subsystem.

Research on Gravity Compensation System of Planetary Rover Based on Electrodynamic Suspension

In this paper, an electrodynamic levitation gravity compensation system based on a new type of annular Halbach array permanent magnet is proposed. The magnetic levitation force model is established using the equivalent expansion method, and the reliability of the model is verified by comparing the results of numerical calculation and simulation analysis. Through magnetic field simulation experiments, the effects of rotating speed and air gap on magnetic levitation force and eddy current loss are analyzed. The control model of the electric magnetic levitation system considering the vertical speed is investigated, and the hybrid control method of force and position is used to realize the stable magnetic levitation control. Finally, an experimental platform is built to verify the feasibility of the electric magnetic levitation system. The results show that the magnetic levitation force can be improved and the eddy current loss can be reduced by setting the rotating speed and air gap reasonably.

A load cell with adjustable stiffness and zero offset tuning dedicated to electrical micro- and nanoprobing

The tasks of electrical micro- and nanoprobing require precision that goes beyond human perception and therefore, depend on sensors providing real-time feedback. Efforts towards automation in micro- and nanoprobing and emerging areas such as branched nanowire networks, has resulted in a growing number of applications where electrical probing without simultaneous force control is insufficient. This article presents the design of a novel mesoscale flexure-based load cell dedicated to micro- and nanoprobing. By integrating systems for stiffness adjustment and a zero offset tuning, the force-displacement characteristic of the device can be adapted to suit a wide range of applications, from the measurement of large forces up to 60 mN to a resolution as high as 10.1 nN, and even negative stiffness (bistable) behavior. By controlling the tuning during measurements, a virtual dynamic range of 6.38 ⋅ 106 is achievable, which is one order of magnitude greater than existing commercial products. We validated the results experimentally on a titanium alloy prototype fabricated by electrical discharge machining (EDM). Experimental and finite element results were also used to validate the analytical model of the load-cell. Additionally, the device allows for probe tip replacement, which is a significant advantage compared to existing MEMS load cells, and comprises a gravity compensation system to accommodate a wide range of commercially available probe tips.

Analysis of the umbrella-type reflector opening process on a stand with an active gravity compensation system

During the verification of the functioning of the transformed structures in ground conditions, it is necessary to minimize the effect of gravity in order to exclude the occurrence of additional loads on the hinge assemblies and opening mechanisms. To perform this task, when testing a transformable umbrella-type reflector, stands with an active gravity compensation system are used, in which the gravity compensation force is applied to each spoke of the reflector. However, when compensating for the gravity spokes of the reflector, the fixing point of the suspension cable does not coincide with the center of mass of the spoke, which leads to the appearance of additional moments of forces acting on the suspended structure. Therefore, as an object of research, a part of the reflector was considered, consisting of a spoke, with cords of a formforming structure attached to it and a mesh. A 3D model has been developed, using which the positions of the center of mass of the structure under consideration were determined in the key phases of the reflector opening. A computational analysis of the driving forces and moments acting on the structure in the process of disclosure is carried out. The degree of influence of the suspension point position on the inaccuracy of gravity compensation has been established. The results of the analysis presented in the article can be used as initial data for the development of an algorithm for the operation of an active gravity compensation system, which will be able to take into account the position of the suspension point and the center of mass of the structure relative to the axis of rotation of the spoke during the opening of the reflector, by changing the gravity compensation force.

A Supernumerary Soft Robotic Limb for Reducing Hand-Arm Vibration Syndromes Risks.

The most common causes of the risk of work-related musculoskeletal disorders (WMSD) have been identified as joint overloading, bad postures, and vibrations. In the last two decades, various solutions ranging from human-robot collaborative systems to robotic exoskeletons have been proposed to mitigate them. More recently, a new approach has been proposed with a high potential in this direction: the supernumerary robotic limbs SRLs are additional robotic body parts (e.g., fingers, legs, and arms) that can be worn by the workers, augmenting their natural ability and reducing the risks of injuries. These systems are generally proposed in the literature for their potentiality of augmenting the user’s ability, but here we would like to explore this kind of technology as a new generation of (personal) protective equipment. A supernumerary robotic upper limb, for example, allows for indirectly interacting with hazardous objects like chemical products or vibrating tools. In particular, in this work, we present a supernumerary robotic limbs system to reduce the vibration transmitted along the arms and minimize the load on the upper limb joints. For this purpose, an off-the-shelf wearable gravity compensation system is integrated with a soft robotic hand and a custom damping wrist, designed starting from theoretical considerations on a mass-spring-damper model. The real efficacy of the system was experimentally tested within a simulated industrial work environment, where seven subjects performed a drilling task on two different materials. Experimental analysis was conducted according to the ISO-5349. Results showed a reduction from 40 to 60% of vibration transmission with respect to the traditional hand drilling using the presented SRL system without compromising the time performance.

Fast terminal sliding mode control based on speed and disturbance estimation for an active suspension gravity compensation system

In this paper, a fast terminal sliding mode controller is designed for an active suspension gravity compensation system with unknown bounds of uncertainties and disturbances. A robust finite-time convergence estimator is used to estimate the velocity and the disturbances. The estimator can guarantee that the speed of the estimation errors converge faster than the displacement tracking errors by regulating its gains. The corresponding stability and robustness of the closed-loop system are proved. In particular, the proposed control scheme can reduce the chattering effectively and render the high-precision tracking performance that have been verified by the simulation and experiments.

Compact maglev stage system for nanometer-scale positioning

Semiconductor manufacturing systems and ultra-precise machine tools now require nanometer-scale positioning accuracy. To improve positioning accuracy, it is efficient to support the top table with a noncontact guide system to prevent guide friction and heat transfer from the lower table or base. A magnetic levitation (maglev) stage can accomplish ultra-precise positioning accuracy with six-degrees-of-freedom (6DOF) control even in vacuum conditions. However, if the gravity of the levitated table is supported by the thrust of a linear motor, heat generation from the motor coil dramatically increases. In addition, a larger motor is required, which causes the moving mass to increase and the mechanical response to deteriorate. We aimed to develop a compact maglev stage for which the levitated mass is less than 1 kg and that is dramatically more lightweight than existing maglev stages. This compact feature was enabled by our newly proposed gravity compensation system with repellent force and a planar motor structure. The developed stage system also has long strokes, specifically 200 mm in the X and Y-directions on a horizontal plane. We designed a maglev stage with the following design concepts to create its compact structure: (1) Reduce top-table mass to minimize the motor dimensions and enable a light weight and high responsiveness. (2) Measure the top-table position from the base to eliminate positioning error and isolate vibrations of the coarse stage. (3) Install a motor in a symmetrical layout in view from the Z-axis to enable the same driving characteristics between the X and Y axes. The results of the performance evaluation showed that the developed maglev stage system with a compact structure with 0.81 kg levitated mass has ±10 nm positioning stability.

Improved Model-Free Adaptive Control of Pneumatic Gravity Compensation System

A pneumatic gravity compensation system is typically nonlinear in behavior. It is difficult to establish an accurate mathematical model for it, and it is particularly difficult to realize high-precision pressure control. A pneumatic gravity compensation system driven by a frictionless cylinder is built. Considering that the traditional model-free adaptive control is slow for pseudo-gradient identification, an improved model-free adaptive control is proposed to predict the changes in the pseudo gradient and accelerate the process of pseudo gradient identification. The static and dynamic gravity compensation of the pneumatic gravity compensation system is realized. Finally, the experimental results show that the steady-error of step response of the improved model-free adaptive controller is less than 200 Pa, and the rise time is approximately 13 seconds. The sinusoidal tracking error (0.04 Hz) is approximately 1.94 KPa.

Evaluation of Gravity Compensation System Based on a Simplified Truss Structure

Evaluation of Gravity Compensation System Based on a Simplified Truss Structure

A study of a gravity compensation system for the spacecraft prototype test by using multi-robot system

In our research, we proposed a system using multi-robot as a gravity compensation system for a ground test of a spacecraft with a deployable structure. The advantage of the system is its low cost and versatility. When the robots support the beam at the nodes, we can expect to simulate the free vibration of the space structure using the proposed system under gravity. In this study, supporting a uniform, flexible beam with vibration was first implemented to verify the performance of the proposed system. Then we investigated the performance of the system applying to the mock-up model of a spacecraft with a deployable structure as a demonstration.

Gravity compensation system of mesh antennas for in-orbit prediction of deployment dynamics

Large deployable mesh antennas are central components of high gain satellites that are used for gathering electromagnetic signals. Deploying such antennas in-orbit is a delicate and precise process, and any failure in their unfolding can result in satellite malfunction. Thus, on-ground experiments have been used to attempt to predict the in-orbit deployment performance of mesh antennas. However, Earth's gravitational field presents a great obstacle in achieving this goal, and how best to design a gravity compensation system for the flexible webs of mesh antennas remains unclear despite various proposed gravity compensation techniques. In this paper, we attempt to address this problem via flexible multibody simulations. The results first reveal that, if the webs are not offloaded at all, the weight of the webs causes the driving forces of the motors and the bending moments of the truss members obtained during on-ground tests to deviate from those experienced by the antenna in-orbit. To counteract this problem, two different gravity suspension systems for the webs of mesh antennas were designed and evaluated. In particular, the different numbers and positions of the suspension nodes were investigated. The results show that no matter which of the two proposed designs is adopted, the number and location of suspension nodes should be carefully selected to achieve well-behaved compensation performance. Furthermore, the proposed modeling and analysis methods can also be applied to other flexible mechanical systems requiring gravity compensation.

Preliminary design and development of an active suspension gravity compensation system for ground verification

A new active suspension gravity compensation system (ASGCS) is developed to offload the gravity of spacecraft or satellites for ground verification. The ASGCS is of six degrees of freedom (6-DOF), including a compensation stage of 3-DOF translation and a gimbal of 3-DOF rotation. A buffer-assisted pinion-rack mechanism is developed to substitute the traditional cable suspension unit, which enables the proportion of gravity compensation is tunable. A new 3-DOF gimbal that is suitable for objects of various sizes and arbitrary shape is developed. Hence, the test object attached to the ASGCS can be free-floating as it is in the outer space. Furthermore, a prototype of the ASGCS is developed, and the dynamic model and kinematic model are derived. Experiments are conducted with the aid of a 6-DOF hybrid coordinate manipulator. The results demonstrate that the ASGCS successfully tracks 6-DOF trajectories of a typical docking task and compensates for 95% of the gravity.

Development of prototype model of gravity compensation system for supporting deployable structures from below

Development of prototype model of gravity compensation system for supporting deployable structures from below

Методика определения относительных энергозатрат привода раскрытия рефлектора антенны зонтичного типа при наземных его испытаниях на стенде с активной системой обезвешивания

Методика определения относительных энергозатрат привода раскрытия рефлектора антенны зонтичного типа при наземных его испытаниях на стенде с активной системой обезвешивания

Visual servo for gravity compensation system

This paper proposed a visual servo framework for the tower-crane-like Gravity Compensation System that is widely used in various aerospace ground tests. In this framework, a real-time detection algorithm is proposed to measure the position of the target. Using this algorithm, the target's original position is marked firstly in a well-designed calibration step, and then compared to its real-time position to calculate the offset for tracking. To realize the high precision tracking, a 2-level servo mechanism is investigated, in which a large-inertia crane servo system is utilized for the rough tracking and a 2-DOF (2 Direction Of Freedom) platform is used for the precise localization. The proposed method leads to a high responding speed and low time-drift in wide range tracking, and greatly decreases the compensation error in the microgravity simulation for space manipulator and moon vehicle.

Mathematical Modeling of a Solar Arrays Deploying Process at Ground Tests

This paper focuses on the creating of a mathematical model of a solar array deploying process during ground tests. Lagrange equation was used to obtain the math model. The distinctive feature of this mathematical model is the possibility of taking into account the gravity compensation system influence on the construction in the deploying process and the aerodynamic resistance during ground tests.