テザーの速度可変式巻取り制御に関する研究

抄録

In this study, we proposed a new mobility device using tether under the microgravity named Tether Space mobility Device (TSMD). TSMD is the mobility device that moves user by winding tether which is attached to the structure in the destination. However, this system has problems that TSMD user spins because the center of gravity of the user deviates from tensile line of action of tether. Therefore we focused on winding of tether and proposed the posture control method of TSMD which combined with the winding control. The effectiveness of winding control was inspected by the experiment. The experiment is performed in the two-dimensional microgravity environment. Winding control is that winding speed becomes slow when the acceleration of the experiment machine exceeded the acceleration threshold. And winding acceleration just after the experiment start set small. As a result of the experiment, it is confirmed that the proposed control methods decrease deflection of tether, and it is found that they makes it possible to control posture of the system. In addition, it was shown that the possibility we can predict the time when the tension acts on tether and we can assess the proposed control by the time when the tension of tether occurs.