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

doi:10.3901/JME.2021.21.001

Abstract

Abstract: 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.

Key words: orbit assembly, cable-driven parallel mechanism, configuration design, workspace

CLC Number:

TP242

YU Jinshan, LI Xiao, TAO Jianguo, WANG Haowei, SUN Hao. Configuration Design and Workspace Analysis of Parallel Mechanism Driven by Eight Cables for On-orbit Assembly[J]. Journal of Mechanical Engineering, 2021, 57(21): 1-10.

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