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
Since the beginning of the 21st century,major earthquakes have frequently occurred worldwide.To explore the impact of astronomical factors on earthquakes,in this study,the statistical analysis method of correlation is...Since the beginning of the 21st century,major earthquakes have frequently occurred worldwide.To explore the impact of astronomical factors on earthquakes,in this study,the statistical analysis method of correlation is used to systematically analyze the effects of astronomical factors,such as solar activity,Earth’s rotation,lunar declination angle,celestial tidal force,and other phenomena on M≥8 global earthquakes at the beginning of the 21st century.With regard to solar activity,this study focuses on the analysis of the 11-year and century cycles of solar activity.The causal relationship of the Earth’s rotation is not obvious in this work and previous works;in contrast,the valley period of the solar activity century cycle may be an important astronomical factor leading to the frequent occurrence of global earthquakes at the beginning of the 21st century.This topic warrants further study.展开更多
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.
文摘Since the beginning of the 21st century,major earthquakes have frequently occurred worldwide.To explore the impact of astronomical factors on earthquakes,in this study,the statistical analysis method of correlation is used to systematically analyze the effects of astronomical factors,such as solar activity,Earth’s rotation,lunar declination angle,celestial tidal force,and other phenomena on M≥8 global earthquakes at the beginning of the 21st century.With regard to solar activity,this study focuses on the analysis of the 11-year and century cycles of solar activity.The causal relationship of the Earth’s rotation is not obvious in this work and previous works;in contrast,the valley period of the solar activity century cycle may be an important astronomical factor leading to the frequent occurrence of global earthquakes at the beginning of the 21st century.This topic warrants further study.
