Design and Analysis of a Wire-Driven Parallel Mechanism for Low-Gravity Environment Simulation | Zendy

Wang Weifang | Zendy; Tang Xiaoqiang | Zendy; Shao Zhufeng | Zendy; Yang Jiping | Zendy; Yi Wangmin | Zendy

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Design and Analysis of a Wire-Driven Parallel Mechanism for Low-Gravity Environment Simulation

Author(s) -

Wang Weifang,

Tang Xiaoqiang,

Shao Zhufeng,

Yang Jiping,

Yi Wangmin

Publication year - 2014

Publication title -

advances in mechanical engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.318

H-Index - 40

ISSN - 1687-8132

DOI - 10.1155/2014/810606

Subject(s) - workspace , mechanism (biology) , parallel manipulator , spacecraft , computer science , tension (geology) , simulation , mechanical engineering , control theory (sociology) , engineering , aerospace engineering , control (management) , robot , materials science , physics , artificial intelligence , quantum mechanics , metallurgy , ultimate tensile strength

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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