公开(公告)号：JPH01204900A

公开(公告)日：1989-08-17

申请号：JP3009488

申请日：1988-02-12

Applicant: NAT AEROSPACE LAB

Inventor： NITTA KEIJI ,  AZUMA HISAO ,  OTSUBO KOJI ,  OGUCHI MITSUO ,  TANEMURA TOSHIHARU ,  NAKAJIMA ATSUSHI ,  NAKAMURA YOSHIHIRO ,  YOSHIMURA SHOICHI ,  INOUE YASUTOSHI ,  MATSUMOTO KOTARO ,  KIBE SEISHIROU ,  FUJIMORI YOSHINORI ,  EGUCHI KUNIHISA

IPC: B64G1/46 ,  B64G1/10 ,  B64G1/12 ,  B64G1/60 ,  F16C32/04

Abstract: PURPOSE:To make a spacecraft platform constructible as one structural body without giving any adverse effect on environmental conditions in both elements by connecting the rotating element at the outside to the nonrotating element at the inside through magnetic force in a noncontact state. CONSTITUTION:A spacecraft platform is constituted of a nonrotating element 1 at a central part capable of offering microgravity for space environmental utilization such as the rearing of flora and fauna in space, various astronomical observations, science and engineering experiments and so on, and both rotating elements 5, 6 to generate artificial gravity and offer such environment as making a human being active so comfortably over a long period of time. In this case, the nonrotating element 1 and the rotating elements 5, 6 are coupled together in noncontact by a magnetic coupling part 7. This noncontact part 7 is made into a structure coupled with a rotary coupling part 14 magnetically in and around a nonrotating coupling part 13 or a part of the nonrotating element 1 via a void 15, and thereby it is constituted so as to have both relatively rotated by a motor 16.

公开(公告)号：JPH04141388A

公开(公告)日：1992-05-14

申请号：JP25915390

申请日：1990-09-28

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： MATSUMOTO KOTARO ,  KIBE SEISHIROU ,  NAGASHIMA SHIRO ,  NAKAMURA YOSHITERU

IPC: B64G7/00 ,  B25J13/08

Abstract: PURPOSE:To simulate the six-freedom behavior of an object in the gravity-free space by fitting a hexaxial force sensor to the tip side link of an articulated robot, and fitting a detector supposed to be a simulation object or a part of this object, to the tip of the hexaxial force sensor. CONSTITUTION:When external force is applied to a detector 12, a hexaxial force sensor 11 generates output by this external force. A speed-angular speed computing means 13 receives the output of the hexaxial force sensor 11 and computes the speed and angular speed of the control object point of an articulated robot 10 on the basis of this output. The computed speed and angular speed are to be those for driving the control object point of the articulated robot 10 in such a way as to realize the behavior of the detector 12 corresponding to the predicted behavior of a simulation object (virtual object), represented by the detector 12, showing the space against the external force applied to the detector 12.

公开(公告)号：JPH04141387A

公开(公告)日：1992-05-14

申请号：JP25915290

申请日：1990-09-28

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： KIBE SEISHIROU ,  MATSUMOTO KOTARO ,  NAGASHIMA SHIRO ,  NAKAMURA YOSHITERU

IPC: B25J13/08

Abstract: PURPOSE:To perform the assembling of truss structure with simple control by setting up a kinetic equation formed of a viscous term excluding an inertial term and a spring term on the basis of the force received by a hexaxial force sensor at the time of fitting truss structure assembling material provided with a fitting part, thus computing the speed of a hand to perform hand position control. CONSTITUTION:Truss structure assembling material is gripped by the hand 24 of an articulated robot 21 so as to be moved and fitted into the fitting part of the truss structure. The hand position control at this fitting time is performed by setting up a kinetic equation formed of a viscous term excluding an inertial term and a spring term in relation to the force received by a hexaxial force sensor 22 to compute the speed and to move the hand 24 at the computed speed. The operation required for position control can be thereby simplified, and high speed action can be performed.