The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, a...The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.展开更多
Traditional simulation methods are unable to meet the requirements of lunar takeo simulations, such as high force output precision, low cost, and repeated use. Considering that cable-driven parallel mechanisms have th...Traditional simulation methods are unable to meet the requirements of lunar takeo simulations, such as high force output precision, low cost, and repeated use. Considering that cable-driven parallel mechanisms have the advantages of high payload to weight ratio, potentially large workspace, and high-speed motion, these mechanisms have the potential to be used for lunar takeo simulations. Thus, this paper presents a parallel mechanism driven by nine cables. The purpose of this study is to optimize the dimensions of the cable-driven parallel mechanism to meet dynamic workspace requirements under cable tension constraints. The dynamic workspace requirements are derived from the kinematical function requests of the lunar takeo simulation equipment. Experimental design and response surface methods are adopted for building the surrogate mathematical model linking the optimal variables and the optimization indices. A set of dimensional parameters are determined by analyzing the surrogate mathematical model. The volume of the dynamic workspace increased by 46% after optimization. Besides, a force control method is proposed for calculating output vector and sinusoidal forces. A force control loop is introduced into the traditional position control loop to adjust the cable force precisely, while controlling the cable length. The e ectiveness of the proposed control method is verified through experiments. A 5% vector output accuracy and 12 Hz undulation force output can be realized. This paper proposes a cable-driven parallel mechanism which can be used for lunar takeo simulation.展开更多
基金Sponsored by Hi-Tech Research and Development Program of China(Grant No. 2001AA422380)
文摘The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.
基金Supported by National Natural Science Foundation of China(Grant No.51405024)
文摘Traditional simulation methods are unable to meet the requirements of lunar takeo simulations, such as high force output precision, low cost, and repeated use. Considering that cable-driven parallel mechanisms have the advantages of high payload to weight ratio, potentially large workspace, and high-speed motion, these mechanisms have the potential to be used for lunar takeo simulations. Thus, this paper presents a parallel mechanism driven by nine cables. The purpose of this study is to optimize the dimensions of the cable-driven parallel mechanism to meet dynamic workspace requirements under cable tension constraints. The dynamic workspace requirements are derived from the kinematical function requests of the lunar takeo simulation equipment. Experimental design and response surface methods are adopted for building the surrogate mathematical model linking the optimal variables and the optimization indices. A set of dimensional parameters are determined by analyzing the surrogate mathematical model. The volume of the dynamic workspace increased by 46% after optimization. Besides, a force control method is proposed for calculating output vector and sinusoidal forces. A force control loop is introduced into the traditional position control loop to adjust the cable force precisely, while controlling the cable length. The e ectiveness of the proposed control method is verified through experiments. A 5% vector output accuracy and 12 Hz undulation force output can be realized. This paper proposes a cable-driven parallel mechanism which can be used for lunar takeo simulation.
