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.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
F. Karmali, M. Shelhamer. The dynamics of parabolic flight: Flight characteristics and passenger percepts. Acta Astronautica, vol. 63, no. 5–6, pp. 594–602, 2008. DOI: https://doi.org/10.1016/j.actaastro.2008.04.009.
Q. Y. Feng, J. F. Li, T. S. Wang. Study on weightlessness dynamics simulated by neutral buoyancy in air-driven shell. Space Medicine & Medical Engineering, vol. 18, no. 3, pp. 182–185, 2005. DOI: https://doi.org/10.3969/j.issn.1002-0837.2005.03.007. (in Chinese)
L. B. Wu, X. Y. Wang, Q. Li. Fuzzy-immune PID control of a 6-DOF parallel platform for docking simulation. Journal of Zhejiang University (Engineering Science), vol. 42, no. 3, pp. 387–391, 2008. DOI: https://doi.org/10.3785/j.issn.1008-973X.2008.03.005. (in Chinese)
H. Q. Zhang, H. R. Fang, B. S. Jiang, S. G. Wang. Dynamic performance evaluation of a redundantly actuated and over-constrained parallel manipulator. International Journal of Automation and Computing, vol. 16, no. 3, pp. 274–285, 2019. DOI: https://doi.org/10.1007/s11633-018-1147-6.
Y. Sato, A. Ejiri, Y. Iida, S. Kanda, T. Maruyama, T. Uchiyama, H. Fujii. Micro-G emulation system using constant-tension suspension for a space manipulator. In Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Sacramento, USA, pp. 1893–1900, 1991. DOI: https://doi.org/10.1109/ROBOT.1991.131902.
G. C. White, Y. S. Xu. An active vertical-direction gravity compensation system. IEEE Transactions on Instrumentation and Measurement, vol. 43, no. 6, pp. 786–792, 1994. DOI: https://doi.org/10.1109/19.368066.
R. Verhoeven. Analysis of the Workspace of Tendon-based Stewart Platforms, Ph. D. dissertation, University Duisburg-Essen, Essen, Germany, 2004.
W. K. Chen. Linear Networks and Systems, Monterey, USA: Brooks/Cole Engineering Division, 1983.
H. V. Poor. An Introduction to Signal Detection and Estimation, 2nd ed., New York, USA: Springer, 1994.
X. Q. Tang, L. W. Tang, J. S. Wang, D. F. Sun. Workspace quality analysis and application for a completely restrained 3-Dof planar cable-driven parallel manipulator. Journal of Mechanical Science and Technology, vol. 27, no. 8, pp. 2391–2399, 2013. DOI: https://doi.org/10.1007/s12206-013-0624-7.
R. Yao, X. Q. Tang, J. S. Wang, P. Huang. Dimensional optimization design of the four-cable-driven parallel manipulator in FAST. IEEE/ASME Transactions on Mechatronics, vol. 15, no. 6, pp. 932–941, 2010. DOI: https://doi.org/10.1109/TMECH.2009.2035922.
X. Q. Tang, R. Yao. Dimensional design on the six-cable driven parallel manipulator of FAST. Journal of Mechanical Design, vol. 133, no. 11, Article number 111012, 2011. DOI: https://doi.org/10.1115/1.4004988.
L. Nurahmi, B. Pramujati, S. Caro, Jeffrey. Dimension synthesis of suspended eight cables-driven parallel robot for search-and-rescue operation. In Proceedings of International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, IEEE, Surabaya, Indonesia, pp. 237–241, 2017. DOI: https://doi.org/10.1109/ICAMIMIA.2017.8387594.
H. Hadian, Y. Amooshahi, A. Fattah. Kinematics and dynamics modeling of a new 4-DOF cable-driven parallel manipulator. International Journal of Intelligent Mechatronics and Robotics, vol. 1, no. 4, pp. 44–60, 2011. DOI: https://doi.org/10.4018/ijimr.2011100103.
A. Alamdari. Cable-driven Articulated Rehabilitation System for Gait Training, Ph. D. dissertation, State University of New York at Buffalo, USA, 2016.
A. Alamdari, V. Krovi. Design and analysis of a cable-driven articulated rehabilitation system for gait training. Journal of Mechanisms and Robotics, vol. 8, no. 5, Article number 051018, 2016. DOI: https://doi.org/10.1115/1.4032274.
M. Hiller, S. Q. Fang, S. Mielczarek, R. Verhoeven, D. Franitza. Design, analysis and realization of tendon-based parallel manipulators. Mechanism and Machine Theory, vol. 40, no. 4, pp. 429–445, 2005. DOI: https://doi.org/10.1016/j.mech-machtheory.2004.08.002.
L. Mikelsons, T. Bruckmann, M. Hiller, D. Schramm. A real-time capable force calculation algorithm for redundant tendon-based parallel manipulators. In Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Pasadena, USA, pp. 3869–3874, 2008. DOI: https://doi.org/10.1109/ROBOT.2008.4543805.
X. Q. Tang, W. F. Wang, L. W. Tang. A geometrical workspace calculation method for cable-driven parallel manipulators on minimum tension condition. Advanced Robotics, vol. 30, no. 16, pp. 1061–1071, 2016. DOI: https://doi.org/10.1080/01691864.2016.1185965.
C. Gosselin, M. Grenier. On the determination of the force distribution in overconstrained cable-driven parallel mechanisms. Meccanica, vol. 46, no. 1, pp. 3–15, 2011. DOI: https://doi.org/10.1007/s11012-010-9369-x.
A. Pott, T. Bruckmann, L. Mikelsons. Closed-form force distribution for parallel wire robots. In Proceedings of the 5th International Workshop on Computational Kinematics, Springer, Berlin Heidelberg, Germany, pp. 25–34, 2009. DOI: https://doi.org/10.1007/978-3-642-01947-0_4.
P. Henriksen. The technical writer’s handbook: Writing with style and clarity. Technical Communication, vol. 38, no. 1, pp. 110–111, 1991.
S. Chen, B. Mulgrew, P.M. Grant. A clustering technique for digital communications channel equalization using radial basis function networks. IEEE Transactions on Neural Networks, vol. 4, no. 4, pp. 570–590, 1993. DOI: https://doi.org/10.1109/72.238312.
A. K. Hartmann, H. Rieger. New Optimization Algorithms in Physics, Weinheim, Germany: Wiley-VCH, 2004.
H. Lamine, S. Bennour, L. Romdhane. Design of cable-driven parallel manipulators for a specific workspace using interval analysis. Advanced Robotics, vol. 30, no. 9, pp. 585–594, 2016. DOI: https://doi.org/10.1080/01691864.2016.1142897.
J. Zhang, D. Xu, Z. T. Zhang, W. S. Zhang. Position/force hybrid control system for high precision aligning of small gripper to ring object. International Journal of Automation and Computing, vol. 10, no. 4, pp. 360–367, 2013. DOI: https://doi.org/10.1007/s11633-013-0732-y.
H. Q. Zhang, H. R. Fang, B. S. Jiang. Motion-force transmissibility characteristic analysis of a redundantly actuated and overconstrained parallel machine. International Journal of Automation and Computing, vol. 16, no. 2, pp. 150–162, 2019. DOI: https://doi.org/10.1007/s11633-018-1156-5.
Acknowledgements
This research was supported by National Natural Science Foundation of China (No. 91648107), and Beijing Natural Science Foundation (No. L182041).
Author information
Authors and Affiliations
Corresponding author
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.
Rights and permissions
About this article
Cite this article
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
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11633-019-1195-6