Dynamics analysis of a cable-driven parallel manipulator for hardware-in-the-loop dynamic simulation

This paper describes a preliminary study of the dynamics of a 6-DOF cable-driven parallel manipulator for a potential application in a ground-based hardware-in-the-loop simulator of microgravity dynamics and contact-dynamics of spacecraft or robotic systems. Two basic dynamics problems are studied. One is the inverse dynamics problem and the other is the rigidity and vibration problem. The study results support the feasibility of using such a cable-driven manipulator for hardware-in-the-loop simulation of contact dynamics

[1]  Imme Ebert-Uphoff,et al.  Force-feasible workspace analysis for underconstrained, point-mass cable robots , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[2]  Ou Ma,et al.  On the Validation of SPDM Task Verification Facility , 2004 .

[3]  James S. Albus,et al.  Stiffness Study of a Parallel Link Robot Crane for Shipbuilding Applications , 1988 .

[4]  Manfred Hiller,et al.  Estimating the Controllable Workspace of Tendon-Based Stewart Platforms , 2000 .

[5]  C. Gosselin,et al.  Determination of the Dynamic Workspace of Cable-Driven Planar Parallel Mechanisms , 2005 .

[6]  Bernd Schäfer,et al.  LIMITATIONS OF HARDWARE-IN-THE-LOOP SIMULATIONS OF SPACE ROBOTICS DYNAMICS USING INDUSTRIAL ROBOTS , 1999 .

[7]  Lung-Wen Tsai.  Design of Tendon-Driven Manipulators , 1995 .

[8]  Rodney G. Roberts,et al.  On the inverse kinematics, statics, and fault tolerance of cable‐suspended robots , 1998 .

[9]  Todd Graham,et al.  On the inverse kinematics, statics, and fault tolerance of cable-suspended robots , 1998, J. Field Robotics.

[10]  Sunil K. Agrawal,et al.  Workspace and Design Analysis of Cable-Suspended Planar Parallel Robots , 2002 .

[11]  Dragoljub Surdilovic,et al.  STRING-MAN: a new wire robot for gait rehabilitation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[12]  Sadao Kawamura,et al.  High-speed manipulation by using parallel wire-driven robots , 2000, Robotica.

[13]  K. Alder,et al.  Role of estimation in real-time contact dynamics enhancement of space station engineering facility , 1996, IEEE Robotics Autom. Mag..