Cable-Driven Parallel Robot Dynamics Research Based On ADAMS

Based on the background of spacecraft, taking ADAMS as the platform, the applicationof cable driven parallel robot in spacecraft is studied. Space robot is restricted by the workenvironment, the weight and configuration is more sensitive. Meanwhile, space requirementsof robot has certain flexibility in action and working space, and the traditional robot is usuallydriven by the transmission rod which makes the weight of the robot is larger and workingspace inflexibility. The emergence of cable drive robot, provides effective means for solvingthis problem. It uses cable instead of the traditional parallel link robot, which largely reducesthe weight of the robot, and increased flexibility in the configuration. This article is based onADAMS, designs two kind of cable drive space parallel robot, and study one of the two cabledrive space parallel robot on the statics, kinematics and dynamics analysis and dynamicsimulation study. The main work of this paper is as follows:1. Due to the flexible modeling difficulties in the modeling of flexible cable, based onthe modeling method of cable in the analysis of all kinds of soft, summarizes the advantagesand disadvantages of various kinds of modeling methods of cable, and puts forward the newmethod of ADAMS/Cable, through comparing with Bushing method to establish modelresults show that this method in cable winding and the model of pulley on the modeling ofcomplex mechanism is more efficient and more accurate. And present the method to verifythe effectiveness of the cable model.2. The space cable drive parallel robot of work space, stiffness, kinematics and dynamicsanalysis.3. Established in ADAMS, the virtual space cable drive parallel robot model, dynamicsimulation was carried out on the established model and the simulation results are analyzed.In this paper, the research results show that the space robot according to the trajectory, acable change continuous, smooth operation, high positioning accuracy; The agency has simplestructure, light weight, reconfigurable, easy to repair maintenance, can meet the requirementsof space robot working good.