Configuration Design and Workspace Analysis of Parallel Mechanism Driven by Eight Cables for On-orbit Assembly

被引：0

作者：

Yu J. ^{[1
]}

Li X. ^{[2
]}

Tao J. ^{[1
]}

Wang H. ^{[2
]}

Sun H. ^{[3
]}

机构：

[1] School of Mechatronics Engineering, Harbin Institute of Technology, Harbin

[2] Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing

[3] Department of Mechanical Engineering and Automation, Fuzhou University, Fuzhou

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2021年 / 57卷 / 21期

关键词：

Cable-driven parallel mechanism; Configuration design; Orbit assembly; Workspace;

D O I：

10.3901/JME.2021.21.001

中图分类号：

学科分类号：

摘要：

For the on-orbit assembly task of large space structures, a parallel mechanism driven by eight cables is proposed, which has the characteristics of simple structure, light weight and large workspace; for the design of the configuration of the cable-driven parallel mechanism, the correlation matrix of the the outlet points and connection points between the cable and the central actuator is defined, on the basis of which the constraints are considered, the 18 effective configurations of the cable-driven parallel mechanism are synthesized; the force-closure workspace and the feasible wrench workspace of different configurations are calculated. The best configuration is selected based on the volume of the workspace; the effect of changing the cable tension and the position of the connection points between the cables and the central actuator on the feasible wrench workspace of the mechanism is analyzed, and the position parameters is optimized. © 2021 Journal of Mechanical Engineering.

引用

页码：1 / 10

页数：9

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