CN104477420B - Nine rope driven machine people devices of a kind of zero-gravity simulation and low gravity - Google Patents
Nine rope driven machine people devices of a kind of zero-gravity simulation and low gravity Download PDFInfo
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Abstract
Nine rope driven machine people devices of a kind of zero-gravity simulation and low gravity, comprise basic framework, rope, rope driver element, line guide, fictitious load platform, sensor and control system, adopt nine rope redundant drive schemes, nine ropes adopt " upper six times three " mode layout in space, the elongation of rope and shortening have motor-driven driver element according to the instruction action of control system, length and power that the power that control system provides according to sensor and pose data are every rope are carried out closed loop or half-closed loop control, can adopt top six roots of sensation rope control simulation load platform pose and motion simultaneously, three of belows rope carries out the control of power tensioning or compensation, possesses the ability of six-freedom motion under in larger working space zero-gravity simulation or low-gravity environment, simultaneously, can apply perturbed force by the stack of three ropes in below or more ropes, the isotropic behavior of this device is good, and the potentiality of applying as fields such as rehabilitation appliances at other field.
Description
Technical field
The invention belongs to zero-g and low-gravity environment analog machine field, particularly a kind of analogue zero weightNine rope driven machine people devices of power and low gravity.
Background technology
In the time that celestial body as extraterrestrial in the moon, Mars etc. is surveyed, if detector need to be from this starReturning ball after body collected specimens, needs detector in this celestial body surface emitting lift-off, and this kind of transmitting facesLaunch environment is in low-gravity environment, and rigidity of support deficiency, attitude are uncertain, plume interference etc.A series technique difficult problem, needs a large amount of analytical calculation and experimental simulation, therefore a set of rational analogy methodWith analogue means be very necessary.
Existing zero-g and low-gravity environment simulation experiment device or analogue technique mainly contain five classes: weightlessness fliesRow or the simulation of falling, buoyant equilibrium gravitational method, rigidity parallel institution are simulated, rope mechanism pulls simulation,The transmitting checking in kind of ball surface. In these methods, the method for weightless flight or the simulation of falling is mainly used in zeroBut gravity simulation virtual space is restricted, when buoyant equilibrium gravitational method is mainly used in length based on suspension processBetween low (zero) gravity environment operation training but be limited by the resistance dynamic responding speed deficiency of water, rigidityParallel institution simulation uses how free platform to carry out spacecraft launching site simulation but space is little, and rope mechanism dragsDrag the gravity of vertical direction or motion compensation can only be provided, when earth surface transmitting checking in kind, be difficult to realizeLow-gravity environment condition, that is, and existing zero-g and low-gravity environment simulation experiment device or analogue techniqueLaunching simulation requirement while being all difficult to meet detector from other celestial body surface emitting and then Returning ball.
Rope mechanism pulls analogy method to be had working space greatly and can realize higher dynamic response, is outSend out an important directions of zero-g and low-gravity environment simulation experiment device. US National Aeronautics and Space Administration(NASA) by parallel oblique pull rope system and inclined-plane in conjunction with simulating low-gravity environment, for training flight person. In addition,Can, by Suo Li being carried out to SERVO CONTROL initiatively or adopting counterweight, offset part or all of gravity,Realize low gravity and zero-g environment, this scheme body to some extent in existing Chinese invention patent applicationExisting (application for a patent for invention publication No.: CN102145755A, CN102009749A). But existing ropeMechanism pulls analogue means can only simulate the motion state of vertical direction and stressed, cannot be used for multiple degrees of freedomMotion especially may appear at the simulation of the motion that the motor power of all directions causes. If will be manyRoot rope layout multiple positions in space, but not vertical direction only will be to adopt rope mechanism to pullAnalogy method is carried out a kind of very useful exploration of zero-g and low-gravity environment simulation.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of zero-gravity simulationWith nine rope driven machine people devices of low gravity, for simulating returning as the celestial body such as the moon, Mars surfaceAstronaut training in cabin transmitting operating mode, low-gravity environment, even as rehabilitation appliances etc. need gravity compensationApplication. This rope driven machine human simulation device gathers the pulling force of every rope by sensing systemWith the pose of fictitious load platform, length or the pulling force of the control algolithm by control system to every rope entersRow FEEDBACK CONTROL, realizes in larger job area being subject to of object under zero-gravity simulation or low-gravity environmentPower and six-freedom motion, and can realize and apply the perturbed force that fictitious load platform may be subject to.
To achieve these goals, the technical solution used in the present invention is:
Nine rope driven machine people devices of zero-gravity simulation and low gravity, comprise basic framework, rope330, rope driver element, line guide, fictitious load platform 500, sensor and control system,Wherein, rope 330 has nine, and one end of every is connected on basic framework, and the other end is walked around ropeAfter guider, be connected on fictitious load platform 500, rope driver element is according to the instruction of control systemControl the elongating or shortening of rope 330, the pulling force on every rope of sensor measurement 330 and displacement andThe pose of fictitious load platform 500, drawing on the every rope 330 that control system records according to sensorThe pose data of power and fictitious load platform 500 take length or power control with simulation to each rope 330Go out to simulate the motion of load platform 500 in zero-g or low-gravity environment.
Described basic framework comprises basic platform 101 and is arranged on the height of the six roots of sensation equal altitudes on basic platformThe low column 103 of column 102 and three equal altitudes, one group between two, be divided into three groups, between adjacent setDistance equates, three low columns 103 lay respectively at the point midway between the high column 102 of adjacent set,The bottom end vicinity that is positioned at every root post on basic platform 101 is all installed a sets of cords driver element, ropeDriver element comprises motor 301 and the cylinder 315 that is connected motor 301, all pacifies on the top of every root postFill a set of line guide, line guide comprises pulley 325, and one end of every rope 330 connectsBe connected on cylinder 315, the other end is walked around pulley 325 and is connected on fictitious load platform 500, wherein aroundCross the some position of pulley 325 for going out rope point, the high column 102 of the six roots of sensation corresponding go out rope point in horizontal planeProjection is positioned on a circle, three low columns 103 corresponding go out the projection of rope point in horizontal plane be positioned atOn a circle.
Described sensor comprises force measuring sensors and length measuring sensor two classes, and wherein power is measured sensingDevice is by the pulling force sensor 350 and/or the peace that are arranged between every rope 330 and fictitious load platform 500Be contained in the torque sensor composition between motor 301 and cylinder 315; Length measuring sensor is by being arranged onThe rotation class length measuring sensor of motor 301 end faces or cylinder 315 end faces and/or be arranged on basic frameQuantity between frame and fictitious load platform 500 is no less than the length measuring sensor composition of 6.
In described nine ropes 330, walk around the six roots of sensation rope of the line guide on the high column 102 of the six roots of sensationRope 330 is connected to the upper surface of fictitious load platform 500, and six tie points are positioned at the circle of same circleOn week and with corresponding six, go out rope point 60 ° of the relative center of circle of horizontal plane projection phase deviations, meanwhile, withThe distribution of the high column 102 of the six roots of sensation is corresponding, and one group between two of described six tie point, are divided into three groups, adjacent setBetween distance equate; Three ropes 330 of walking around three line guide on low column 103 connectBe connected on the lower surface of fictitious load platform 500, and three tie points evenly divide on the circumference of same circleCloth and with corresponding three go out rope point in the relative center of circle of horizontal plane projection without phase difference, fictitious load platformIn 500 lower surfaces, three rope tie points distribute and divide with respect to the mid point of three groups of rope tie points in upper surfaceCloth is without phase difference, three of six tie point place radius of circles of fictitious load platform 500 upper surface and lower surfacesTie point place radius of circle is identical or different, and the I of three tie point place radius of a circles of lower surfaceThink zero and upper surface six roots of sensation tie point place radius of a circle is greater than zero all the time.
Two of same group high column 102 inside go out rope and put the angle of the round heart of relative projective distribution and be not less than3 ° and be no more than 40 °, the folder in the same group of relative center of circle of tie point on fictitious load platform 500 upper surfacesAngle is not less than 3 ° and be no more than 40 °.
Described pulley 325 is installed on bogie 321, and bogie 321 is installed on can be along moving down on columnOn moving bogie bracket 320.
Described nine ropes 330 are located immediately at fictitious load platform with the tie point of fictitious load platform 500On 500, or be positioned on the outside framework being installed in outside fictitious load platform 500.
Described control system is measured and linear measure longimetry result according to mounting structure parameter, power, calculates mouldPulling force on the pose of plan load platform 500, length and each rope 330 of each rope 330,Simultaneously according to the simulation requirement of zero-g or low-gravity environment, in conjunction with the motion shape of fictitious load platform 500State, calculates zero-gravity simulation or the low-gravity environment Imitating load platform 500 required each rope that movesRope 330 is applied to pulling force and the length variations on fictitious load platform 500, and utilizes power and linear measure longimetrySensor is adjusted the pulling force of every rope 330 in conjunction with the motor 310 in rope driver element and cylinder 315And length, realize the simulation of zero-g or low-gravity environment.
Described nine ropes 330 adopt power position to mix control model simultaneously and control, or adopt simultaneouslyForce control mode is controlled, or adopt six roots of sensation rope 330 employing power positions, top to mix control models andThree ropes 330 in below adopt force control mode to control.
In the present invention, perturbed force can be decomposed on three ropes in below or be assigned on more ropes,Realize perturbed force simulation.
Compared with prior art, the invention has the beneficial effects as follows:
1. adopt nine rope redundant drive schemes, have large working space that cable parallel mechanism drives,The advantage of high dynamic characteristic, and can realize the control of fictitious load platform six-freedom motion, Neng GouyongLaunching simulation in return capsule on extraterrestrial celestial body surface.
2. adopt nine ropes " upper six times three " placement scheme in space, have large working space andThe good advantage of isotropism in working space, top six roots of sensation rope can be determined fictitious load platform simultaneouslyPose, the control mode of three ropes in below is chosen more flexible.
3. by Suo Li allocation algorithm reasonable in design, outside the plume interference of simulated engine simultaneously etc.Disturb power.
4. adopt the redundant drive scheme of nine ropes, security of system is high, can expand for gravity orThe medical rehabilitation instrument field of motion compensation.
Brief description of the drawings
Accompanying drawing 1 is nine rope driven machine people device schematic diagrames of a kind of zero-gravity simulation and low gravity.
Accompanying drawing 2 is the rope driver element of nine rope driven machine people devices of a kind of zero-gravity simulation and low gravityStructural representation.
Accompanying drawing 3 is that six of the tops of nine rope driven machine people devices of a kind of zero-gravity simulation and low gravity go out ropePoint and six rope tie point distribution sketches.
Accompanying drawing 4 is that three of the belows of nine rope driven machine people devices of a kind of zero-gravity simulation and low gravity go out ropePoint and three rope tie point distribution sketches.
Accompanying drawing 5 is nine rope driven machine people apparatus control system design frames of a kind of zero-gravity simulation and low gravityFigure.
Accompanying drawing illustration: 101-basic platform; The high column of 102-; The low column of 103-; 330-rope; 301-Mounting base; 302-installation bracket; 303-torque sensor; 310-motor; 315-cylinder; 320-bogieBracket; 321-bogie; 325-pulley; 350-pulling force sensor; 500-fictitious load platform.
B1、B2、B3、B4、B5、B6Six of tops go out rope point, B7、B8、B9Three of belows go out rope point.
P1、P2、P3、P4、P5、P6Six the rope tie points in top, P7、P8、P9Three of belows rope connectsContact.
R1Six the rope tie point place distribution radius of circles in top.
R10Six of tops go out rope point place distribution radius of circle.
R2Three the rope tie point place distribution radius of circles in below.
R20Three of belows go out rope point place distribution radius of circle.
Detailed description of the invention
Describe embodiments of the present invention in detail below in conjunction with drawings and Examples.
The present invention relates to nine rope driven machine people devices of a kind of zero-gravity simulation and low gravity as shown in Figure 1,Its detailed description of the invention is as follows: nine rope driven machine people devices of this zero-gravity simulation and low-gravity environment are by basePlinth framework, rope 330, rope driver element, line guide, fictitious load platform 500, sensorWith the parts such as control system composition, basic framework comprises basic platform 101 and is arranged on six on basic platformThe high column 102 of root and three low columns 103, the root position annex of every root post is provided with a sets of cords and drivesUnit, as shown in Figure 2, rope driver element by mounting base 301, installation bracket 302, motor 310,Cylinder 315 and relevant connector composition, amount to nine covers; Near the tip position of every root post, be all provided withA set of line guide, every sets of cords guider is by bogie bracket 320, bogie 320, pulley 325And relevant connector composition, amount to nine covers; One end of rope is wrapped on cylinder 315, and the other end passesAfter the pulley 325 of line guide, be connected on fictitious load platform 500; Nine sets of cords guider phasesFictitious load platform is formed to nine and go out rope point, as shown in Figure 3 and Figure 4, be distributed as B1～B66 points, withAnd B7～B93 points, these nine go out rope point in space employing " upper six times three " scheme layout, and the top six roots of sensation is highSix on column 102 go out rope point B1、B2、B3、B4、B5、B6Projection in horizontal plane is positioned at sameOn individual circle, and the six roots of sensation goes out one group between two of rope point, and be divided on three groups of projections circles in horizontal plane and be uniformly distributed,In same group two go out rope point and are not less than 3 ° and be no more than 40 °, below with respect to the projection center of circle lessThree on three low columns 103 go out rope point B7、B8、B9Even on the distribution circle of the projection in horizontal planeDistribute, six of tops go out rope point place distribution radius of circle R10Go out rope point place distribution radius of circle with three of belowsR20Can be not identical, six of tops go out the height of rope point and three of belows and go out the equal capable of regulating of height of rope point; MouldNine rope tie points intending on load platform 500 adopt " upper six times three " scheme layout, wherein, aboveSix interior tie point P1、P2、P3、P4、P5、P6A component becomes three groups between two, and these three groups of tie points are upperOn same circle in face, be uniformly distributed, two tie points are with respect to the distribute angle of the round heart of place in every groupBe not less than 3 ° and be no more than 40 °, below interior three tie points be uniformly distributed along the circle that distributes, and below threeIndividual tie point P7、P8、P9In distributing relatively above, the mid point of three groups of tie points distributes without phase difference, below inThree tie points relatively its distribute circle home position and three of belows go out the round home position of relative its distribution of rope pointPhase place zero deflection, but above interior six rope tie points between two a component become three groups its distribute circle on relatively roundHeart position and six of tops go out rope point between two a component become the phase place of three groups of relative home positions on it distributes circle60 ° of deviations, below interior three tie point place distribution radius of circle R2Interior six tie point places distribute aboveRadius of circle R1Can be not identical, below interior three connect place distribution radius of circle R2Minimum can be zero, stillInterior six roots of sensation tie point place distribution radius of circle R above1All the time be greater than zero; Nine ropes and fictitious load platformTie point can be located immediately on fictitious load platform, also can install additional outside fixing using for fictitious load platformFramework, nine ropes are connected on outside framework, and the position distribution of tie point requires the same. Rope drives singleUnit can all be arranged on basic platform 101, also can be arranged on high column 102, low column 103 orIn other fixtures, taking easy for installation and avoid interference between rope as qualifications.
The sensing system of nine rope driven machine people devices of this zero-gravity simulation and low-gravity environment comprises power surveyQuantity sensor and length measuring sensor two classes, the installing and measuring point of force measuring sensors directly measure andConnect and measure two kinds, directly measure and refer to that pulling force sensor 350 is directly installed on rope 330 and fictitious loadBetween platform 500, as Fig. 1, directly record the size of rope 330 upper pulling forces, indirectly measure and refer to biographySensor is arranged in the motion path of rope or in driver element, as be arranged on motor 310 and cylinder 315 itBetween torque sensor 303, as Fig. 2, indirectly measure the size of rope 330 upper pulling forces, these two kindsThe method of measuring rope upper pulling force can be used also simultaneously and can use separately, coordinates the design of control algolithm to makeWith; The final goal of length measuring sensor is length and the fictitious load platform that obtains each rope 330500 pose, the measuring method of length measuring sensor has two kinds, and one is mounted in each rope and drivesThe rotation class length measuring sensor of inside, joint (as motor 301 end faces or cylinder 315 end faces) is straightConnect the pose that obtains the length of rope and then calculate fictitious load platform, another kind is to be directly installed on baseIt is many that length measuring sensor between plinth framework and fictitious load platform is measured the quantity of length and sensorIn 6, obtain the length of pose and the every rope of fictitious load platform by forward kinematics solution algorithm, thisTwo kinds of length measuring sensors can use also simultaneously and can use separately, coordinate the design of control algolithm to makeWith; Control system is measured and linear measure longimetry result according to the mounting structure parameter of analogue means, power, calculatesObtain on the length of pose, each rope 330 of fictitious load platform 500 and each rope 330Pulling force, simultaneously according to the simulation requirement of zero-g or low-gravity environment, in conjunction with fictitious load platform 500Motion state (speed, acceleration), calculates zero-gravity simulation or the load of low-gravity environment Imitating flatPlatform 500 moves, and required each rope 330 is applied to pulling force on fictitious load platform 500 and length becomesChange, and utilize power and length measuring sensor in conjunction with the motor 310 in rope driver element and cylinder 315Pulling force and the length of adjusting every rope 330, realize the simulation of zero-g or low-gravity environment.
As Fig. 5, the control system control of nine rope driven machine people devices of this zero-gravity simulation and low-gravity environmentThe design philosophy of algorithm is directly to be recorded the length of each rope 330 by the data of described length measuring sensorSpend or resolve and obtain fictitious load platform by normal solution according to indirectly measure at least 6 length data500 pose parameter and the length of each rope 330, analyze in zero-g or the load of low-gravity environment ImitatingPlatform 500 is in residing stress and motion state under this pose parameter calculating and (speed, addsSpeed), be then calculated as and realize fictitious load platform 500 at zero weight by rope tensile force optimization allocation algorithmThe pulling force that should apply on the stressed and every rope 3300 of next step motion under power or low-gravity environment, is drawnThe length variations instruction of power and rope, in conjunction with the position sensors such as the angular encoder on motor and device peaceThe direct or indirect force measuring sensors of dress is realized the pulling force of driving rope and the closing of length variations of servomotorRing or half-closed loop control, and then realize fictitious load platform 500 and move under zero-g or low-gravity environment.
The rope driver element of nine rope driven machine people devices of this zero-gravity simulation and low-gravity environment, usedMotor 310 is servomotor, can adopt the power position under torque mode control or mode position to mix control,The size of power of motor is carried out type selecting according to Design of Transmission System, in transmission system, can introduce planetary gear etc.The link of decelerator, reduces the requirement to power of motor; One side of the output of motor 310 or cylinderFace can be installed the outer corner measurement sensors such as rotary encoder, to measure the rotational angle of cylinder 315, entersAnd obtain rope lengths change parameter; Rope driver element inside can design and installation torque sensor 303, withIndirectly obtain rope pull, and for the control of motor. The rope driven machine people device proposing in the present inventionNine interior ropes can adopt power position to mix control model simultaneously and control, and also can adopt power simultaneouslyControl model is controlled, can also adopt top six roots of sensation rope adopt power position mix control model or evenThree ropes in position control mode and below adopt force control mode to control.
Nine rope driven machine people devices of this zero-gravity simulation and low-gravity environment can be realized fictitious load platform500 the applying of zero-g or the suffered perturbed force of low-gravity environment, and the applying method of perturbed force can be to decomposeTo the rope of three of belows, also can make firmly allocation algorithm be assigned on more even all ropes.
Claims (9)
1. nine rope driven machine people devices of a zero-gravity simulation and low gravity, it is characterized in that, comprise basic framework, rope (330), rope driver element, line guide, fictitious load platform (500), sensor and control system, wherein, rope (330) has nine, one end of every is connected on basic framework, the other end is connected on fictitious load platform (500) after walking around line guide, rope driver element elongates or shortens according to instruction control rope (330) of control system, the pose of the pulling force on every rope of sensor measurement (330) and displacement and fictitious load platform (500), pulling force on the every rope (330) that control system records according to sensor and the pose data of fictitious load platform (500) take length or power control to simulate the motion of fictitious load platform (500) in zero-g or low-gravity environment to each rope (330), described basic framework comprises basic platform (101) and is arranged on the high column (102) of the six roots of sensation equal altitudes on basic platform and the low column (103) of three equal altitudes, one group between two, be divided into three groups, distance between adjacent set equates, three low columns (103) lay respectively at the point midway between the high column (102) of adjacent set, the bottom end vicinity that is positioned at every root post on basic platform (101) is all installed a sets of cords driver element, rope driver element comprises motor (301) and the cylinder (315) that is connected motor (301), a set of line guide is all installed on top at every root post, line guide comprises pulley (325), one end of every rope (330) is connected on cylinder (315), the other end is walked around pulley (325) and is connected on fictitious load platform (500), wherein walk around the some position of pulley (325) for going out rope point, the high column of the six roots of sensation (102) corresponding go out the projection of rope point in horizontal plane be positioned on a circle, three low columns (103) corresponding go out the projection of rope point in horizontal plane be positioned on a circle.
2. nine rope driven machine people devices of zero-gravity simulation and low gravity according to claim 1, it is characterized in that, described sensor comprises force measuring sensors and length measuring sensor two classes, wherein force measuring sensors by be arranged on the pulling force sensor (350) between every rope (330) and fictitious load platform (500) and/or be arranged on motor (301) and cylinder (315) between torque sensor form; Length measuring sensor by be arranged on the rotation class length measuring sensor of motor (301) end face or cylinder (315) end face and/or be arranged on basic framework and fictitious load platform (500) between quantity be no less than the length measuring sensor of 6 and form.
3. nine rope driven machine people devices of zero-gravity simulation and low gravity according to claim 1, it is characterized in that, in described nine ropes (330), the six roots of sensation rope (330) of walking around the line guide on the high column of the six roots of sensation (102) is connected to the upper surface of fictitious load platform (500), and six tie points are positioned on the circumference of same circle and go out rope point 60 ° of the relative center of circle of horizontal plane projection phase deviations with corresponding six, simultaneously, corresponding with the distribution of the high column of the six roots of sensation (102), one group between two of described six tie point, be divided into three groups, distance between adjacent set equates, three ropes (330) of walking around the line guide on three low columns (103) are connected to the lower surface of fictitious load platform (500), and three tie points are uniformly distributed on the circumference of same circle and with corresponding three go out rope point in the relative center of circle of horizontal plane projection without phase difference, in fictitious load platform (500) lower surface, three rope tie points distribute and distribute without phase difference with respect to the mid point of three groups of rope tie points in upper surface, three tie point place radius of circles of six tie point place radius of circles of fictitious load platform (500) upper surface and lower surface are identical or different, and three tie point place radius of a circle minimums of lower surface can be zero and upper surface six roots of sensation tie point place radius of a circle is greater than zero all the time.
4. nine rope driven machine people devices of zero-gravity simulation and low gravity according to claim 3, it is characterized in that, inner two of same group of high column (102) go out rope and put the angle of the round heart of relative projective distribution and be not less than 3 ° and be no more than 40 °, and on fictitious load platform (500) upper surface, the angle in the same group of relative center of circle of tie point is not less than 3 ° and be no more than 40 °.
5. according to nine rope driven machine people devices of zero-gravity simulation described in claim 1 or 2 or 3 or 4 and low gravity, it is characterized in that, it is upper that described pulley (325) is installed on bogie (321), and bogie (321) is installed on the bogie bracket (320) that can move up and down along column.
6. according to nine rope driven machine people devices of zero-gravity simulation described in claim 1 or 2 or 3 or 4 and low gravity, it is characterized in that, described nine ropes (330) are located immediately at fictitious load platform (500) above with the tie point of fictitious load platform (500), or are positioned on the outside framework being installed in outside fictitious load platform (500).
7. nine rope driven machine people devices of zero-gravity simulation and low gravity according to claim 1, it is characterized in that, described control system is according to mounting structure parameter, power is measured and linear measure longimetry result, calculate the pose of fictitious load platform (500), pulling force on the length of each rope (330) and each rope (330), simultaneously according to the simulation requirement of zero-g or low-gravity environment, in conjunction with the motion state of fictitious load platform (500), calculate zero-gravity simulation or low-gravity environment Imitating load platform (500) the required each rope (330) that moves and be applied to pulling force and the length variations on fictitious load platform (500), and utilize power and length measuring sensor to adjust pulling force and the length of every rope (330) in conjunction with the motor in rope driver element and cylinder (315), realize the simulation of zero-g or low-gravity environment.
8. according to nine rope driven machine people devices of zero-gravity simulation described in claim 1 or 7 and low gravity, it is characterized in that, described nine ropes (330) adopt power position to mix control model simultaneously and control, or adopt force control mode to control simultaneously, or adopt six roots of sensation rope (330) employing power position, top to mix control model and three ropes in below (330) to adopt force control mode to control.
9. according to nine rope driven machine people devices of zero-gravity simulation described in claim 1 or 7 and low gravity, it is characterized in that, perturbed force is decomposed on three ropes in below or is assigned on more ropes, realize perturbed force simulation.
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