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Design and Analysis of a Wire-Driven Parallel Mechanism for Low-Gravity Environment Simulation  ( SCI-EXPANDED收录)  

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.

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