Research on End-force Output of 8-cable Driven Parallel Manipulator

doi:10.1007/s11633-019-1195-6

CASIA OpenIR > 学术期刊 > Machine Intelligence Research

	Research on End-force Output of 8-cable Driven Parallel Manipulator
	Sen-Hao Hou 1; Xiao-Qiang Tang 1,2; Ling Cao 1; Zhi-Wei Cui 1; Hai-Ning Sun 1; Ying-Wei Yan 3
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2020
卷号	17 期号:3 页码:378-389
摘要	The return capsule needs to be launched to the moon and return back to earth in the third stage of the Chinese lunar exploration project. Therefore, it is necessary to perform simulations on the ground. This paper presents an 8-cable-driven parallel manipulator to achieve end-force output in a low-gravity environment. End-force output refers to the vector sum of the external force on the end-effector. A model of end-force output is established based on a kinematics model, a dynamic model, and a force analysis of an 8-cable driven parallel manipulator. To obtain end-force output in a low-gravity environment, the cable force has to be controlled to counteract gravity. In addition, a force-position mix control strategy is proposed to proactively control the cable force according to the force optimal distribution given by the closed-form force distribution method. Furthermore, a suitable choice for an end-force output is obtained by modeling the effect of cable force on end-force output. Experimental results show that the actual cable force agrees well with the calculated force distribution, indicating that it is feasible to realize end-force output in a low gravity environment.
关键词	Cable driven parallel manipulators low gravity environment end-force output cable force control mix control strategy.
DOI	10.1007/s11633-019-1195-6
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42287
专题	学术期刊_Machine Intelligence Research
作者单位	1.State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China 2.Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China 3.Postal Scientific Research and Planning Academy, Beijing 100096, China
推荐引用方式 GB/T 7714	Sen-Hao Hou,Xiao-Qiang Tang,Ling Cao,et al. Research on End-force Output of 8-cable Driven Parallel Manipulator[J]. International Journal of Automation and Computing,2020,17(3):378-389.
APA	Sen-Hao Hou,Xiao-Qiang Tang,Ling Cao,Zhi-Wei Cui,Hai-Ning Sun,&Ying-Wei Yan.(2020).Research on End-force Output of 8-cable Driven Parallel Manipulator.International Journal of Automation and Computing,17(3),378-389.
MLA	Sen-Hao Hou,et al."Research on End-force Output of 8-cable Driven Parallel Manipulator".International Journal of Automation and Computing 17.3(2020):378-389.

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