Stiffness Modeling and Dynamics Co-Modeling for Space Cable-Driven Linkage Continuous Manipulators

Hejie Xu, Xinliang Li, Yanan Li, Deshan Meng () and Xueqian Wang
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Hejie Xu: Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China
Xinliang Li: Research Institute of Tsinghua University in Shenzhen, Shenzhen 518057, China
Yanan Li: Mechanical Engineering, Harbin Institute of Technology, Harbin 150001, China
Deshan Meng: School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518055, China
Xueqian Wang: Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China

Mathematics, 2023, vol. 11, issue 8, 1-23

Abstract: The space cable-driven continuous manipulator (SCCM) has a slender structure, ultra-high degrees of freedom, and a low mass, which make it suitable for equipment inspection and maintenance operations in an unstructured and limited space environment. In this paper, the SCCM including the cable network and plenty of joint links was deeply modeled. Firstly, the mapping relationship between the cable-driving space, joint space, and task space of the SCCM was studied, and the complete kinematic relationship of the SCCM was established. Secondly, the stiffness components of the SCCM are discussed, and the stiffness modeling method of each part is given. Finally, the Cartesian space equivalent stiffness model of the end was established. Then, a dynamic co-modeling method of Matlab + Adams is proposed, which greatly improved the modeling efficiency while ensuring the modeling accuracy. Finally, based on the stiffness model, the end stiffness characteristics of a specific configuration were analyzed, and the influence of the cable tension on the stiffness and frequency of the manipulator was analyzed. Based on the dynamic co-modeling, the task trajectory dynamics’ simulation analysis and space slit crossing experiment were carried out, which verified that the designed SCCM can meet the needs of slit crossing.

Keywords: space manipulator; cable-driven manipulator; kinematics; stiffness; dynamics (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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