模拟失重条件下航天员旋转运动方法实验验证

航天员太空飞行中，需要改变自身位置与朝向以完成不同的作业任务，当其无法触碰到手脚限制器等借助物时，会涉及通过自身动作的转换产生人体旋转的问题。为此，首先基于Roberson-Wittenburg方法建立了人体动力学方程，据此提出能够使得人体转动的肢体操作方法，然后采用悬吊法模拟太空失重环境，对比不同控制方法产生的旋转作用效果，发现肢体旋转时与身体的夹角和肢体旋转速度是影响人体旋转完成时间和关节力矩的主要因素，最后结合推荐动作与实验结果提出空间姿态变换运动的操作建议。结果表明本文推荐动作有一定的优越性，对航天员处于太空中的自旋转运动具有实用意义。

Experimental Validation of Astronaut Self-rotation Motion Method in Simulated Weightless Condition

Astronaut needs to change his or her orientation to perform different tasks during the space mission .The issue of how to rotate body through limbs ’ motion without external torques is studied in this paper .First, the kinetics equations of multi-body systems were built by the Roberson-Wittenburg method and the body rotary methods through limb manipulation motions were proposed . Then, a suspension experiment was conducted to simulate weightless environment to contrast the ro -tary performances with different self-rotation strategies and to find the influencing factors on comple-ting time and joint torques .In the end , the self-rotation motion strategy without external torques was improved .The results show that the recommended motion control strategy is excellent as compared with other methods and will be beneficial to astronaut self-rotation motion .