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

Author

Ma, Ou ; Diao, Xiumin

Author_Institution

Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM

fYear

2005

fDate

24-28 July 2005

Firstpage

837

Lastpage

842

Abstract

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

Keywords

aerospace robotics; digital simulation; inverse problems; manipulator dynamics; shear modulus; space vehicles; vibration control; cable-driven parallel manipulator; contact-dynamics; dynamics analysis; hardware-in-the-loop dynamic simulation; inverse dynamics problem; microgravity dynamics; rigidity; spacecraft; vibration problem; Analytical models; Computational modeling; Computer simulation; Manipulator dynamics; Orbital robotics; Physics computing; Predictive models; Satellites; Space vehicles; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-9047-4

Type

conf

DOI

10.1109/AIM.2005.1511113

Filename

1511113