文献类型：期刊文献

英文题名：Design and Analysis of a Wire-Driven Parallel Mechanism for Low-Gravity Environment Simulation

作者：Wang, Weifang[1];Tang, Xiaoqiang[1];Shao, Zhufeng[1];Yang, Jiping[2];Yi, Wangmin[3]

第一作者：Wang, Weifang

通讯作者：Yang, JP[1]

机构：[1]Tsinghua Univ, Dept Mech Engn, State Key Lab Tribol, Beijing 100084, Peoples R China;[2]Beijing Union Univ, Dept Software Engn, Beijing 100101, Peoples R China;[3]Beijing Inst Spacecraft Environm Engn, Beijing 100094, Peoples R China

第一机构：Tsinghua Univ, Dept Mech Engn, State Key Lab Tribol, Beijing 100084, Peoples R China

通讯机构：[1]corresponding author), Beijing Union Univ, Dept Software Engn, Beijing 100101, Peoples R China.|[11417143]北京联合大学机器人学院软件工程系;[11417]北京联合大学;[1141739]机器人学院;

年份：2014

卷号：2014

外文期刊名：ADVANCES IN MECHANICAL ENGINEERING

收录：;Scopus(收录号：2-s2.0-84901271718);WOS:【SCI-EXPANDED(收录号:WOS:000335322400001)】；

基金：The research is supported by the National Natural Science Foundation of China (nos. 51205224 and 11178012).

语种：英文

摘要：Traditional simulation mechanisms are unable to meet the simulation requirements of spacecraft launcher in low-gravity environment, like in the Moon. Based on the advantages of wire-driven parallel mechanism, a 6-DOF low-gravity environment simulation device with eight wires is designed in this paper. Firstly, the configuration and dimensional design of this wire-driven parallel mechanism are carried out. To operate and control the wire-driven parallel mechanism, a force distribution algorithm is introduced and the workspace is analyzed. Then, an evaluation index named quality index is established in order to study the performance of the wire-driven parallel manipulator in its workspace and reasonable tension is obtained after analyzing the influence on quality index caused by different wire tension.