Design and Control Method of Movable Anchor Point Cable-driven Parallel Robot in Ground Microgravity Experiments for Space Robots
A novel concept of a cable-driven parallel robot with movable anchor points was proposed to meet the demands for ground microgravity simulation verification or testing equipment.Additional-ly,a typical structural design was developed for applications in lightweight,high-load,and large-span scenarios.The design of a typical movable anchor point structure was introduced.A kinematic model of the cable-driven parallel robot with movable anchor points was established based on optimi-zation solutions,incorporating an obstacle avoidance constraint.The effectiveness of the kinematic solution method for the robot was verified through experiments,along with its capability to perform real-time obstacle avoidance in space.To achieve ground microgravity simulation,the position con-trol,impedance control,and zero-force control methods for the cable-driven parallel robot with mov-able anchor points were proposed.The experimental results showed that the robot exhibited good po-sitional accuracy,smooth zero-force dragging ability,and effective impedance control performance.
cable-driven parallel robotmovable anchor pointground microgravity experimentsrobot control
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维普
