Research on End-force Output of 8-cable Driven Parallel Manipulator
文献类型：期刊论文
| 作者 | Sen-Hao Hou3; Xiao-Qiang Tang2,3; Ling Cao3; Zhi-Wei Cui3; Hai-Ning Sun3; Ying-Wei Yan1 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2020 |
| 卷号 | 17期号:3页码:378-389 |
| 关键词 | Cable driven parallel manipulators low gravity environment end-force output cable force control mix control strategy. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-019-1195-6 |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42287]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.Postal Scientific Research and Planning Academy, Beijing 100096, China 2.Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China 3.State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, 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. |
入库方式： OAI收割
来源：自动化研究所
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