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- 저자 : Xiaoqiang Tang (검색결과 2 건)
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Xiaoqiang Tang,Lewei Tang,Jinsong Wang,Dengfeng Sun 대한기계학회 2013 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.27 No.8
With the advantage of large workspace, low energy consumption and small inertia, the cable-driven parallel manipulator (CDPM) is suitable for heavy workpieces in rapid velocity and acceleration. We present a workspace analysis approach to solve force and torque equilibriums of completely restrained CDPMs. By this approach, not only the distribution but also the value of tensions driven by cables is investigated together. Two new indices, all cable tension distribution index (ACTDI) and area of the global quality workspace (AG)are proposed to evaluate the quality of the workspace. By concentrating on the workspace and its quality combined with the tension characteristics,these criteria are used to determine the optimal workspace in CDPMs. To verify the capacity of the proposed method, simulation examples are presented and the results demonstrate the approach’s effectiveness. In the end, the dimensional design for a planar CDPM is discussed with the indices of workspace quality.
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Senhao Hou,Dongxing Li,Qunzhi Li,Xiaoqiang Tang 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.12
In deep space exploration, the high-speed separation process of spacecraft is fraught with uncertainty and uncontrollability. To accurately simulate and analyze this process, a series of ground tests are typically required. In this study, a cable-driven mechanism is proposed to simulate this process. Given the high initial velocity of the spacecraft, the cable force undergoes violent fluctuations. Thus, a detailed study of the mechanism governing the forcetransmission characteristics is essential to enhance the accuracy of cable force application. Three key parameters, such as slack time, peak cable force, and average relative error, are proposed to illustrate force-transmission characteristics. The effects of parameters such as thrust, pre-tension, and Young’s modulus on force-transmission characteristics are also investigated. An input force planning algorithm is proposed to improve the accuracy of the cable force. High-speed separation tests are conducted within certain upper and lower bounds, and the experimental and simulation data demonstrate good agreement, confirming the accuracy of the proposed model.
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