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

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Abstract

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.

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Acknowledgements

This research was supported by National Natural Science Foundation of China (No. 91648107), and Beijing Natural Science Foundation (No. L182041).

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Authors and Affiliations

  1. State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Sen-Hao Hou, Xiao-Qiang Tang, Ling Cao, Zhi-Wei Cui & Hai-Ning Sun

  2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, China

    Xiao-Qiang Tang

  3. Postal Scientific Research and Planning Academy, Beijing, 100096, China

    Ying-Wei Yan

Authors
  1. Sen-Hao Hou
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  2. Xiao-Qiang Tang
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  3. Ling Cao
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  5. Hai-Ning Sun
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  6. Ying-Wei Yan
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Corresponding author

Correspondence to Xiao-Qiang Tang.

Additional information

Sen-Hao Hou received the B. Sc. degree in mechanical engineering from Beijing Institute of Technology, China in 2016. He is currently a Ph. D. dgree candidate in mechanical engineering at Tsinghua University, China.

His research interest is cable parallel robot.

Xiao-Qiang Tang received the B. Sc. and M. Sc. degrees in mechanical engineering from Harbin University of Science and Technology, China in 1995 and 1998 respectively. He received the Ph. D. degree in mechanical engineering from Tsinghua University, China in 2001. He is currently a professor in Department of Mechanical Engineering, Tsinghua University, China.

His research interests include parallel manipulators, robots, and reconfigurable manufacturing technology.

Ling Cao received the B. Sc. and M. Sc. degrees in mechanical engineering from Tsinghua University, China in 2013 and 2016, respectively.

Her research interest is cable-driven parallel robots.

Zhi-Wei Cui received the M. Sc. degree in mechanical engineering from Beihang University, China in 2016. He is currently a Ph. D. degree candidate in mechanical engineering at Tsinghua University, China.

His research interests include parallel manipulators and cable-driven robots.

Hai-Ning Sun received the B. Sc. degree in mechanical engineering from Shandong University, China in 2017. He is currently a Ph. D. degree candidate in mechanical engineering at Tsinghua University, China.

His research interest is cable parallel robot.

Ying-Wei Yan received the M. Sc. degree in mechanical engineering from Harbin University of Science and Technology, China in 1998. She is currently a senior engineer in the Postal Scientific Research and Planning Academy, China.

Her research interests include logistics system simulation and mechanism design.

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Hou, SH., Tang, XQ., Cao, L. et al. Research on End-force Output of 8-cable Driven Parallel Manipulator. Int. J. Autom. Comput. 17, 378–389 (2020). https://doi.org/10.1007/s11633-019-1195-6

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  • DOI: https://doi.org/10.1007/s11633-019-1195-6

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