Workspace,stiffness analysis and design optimization of coupled active-passive multilink cable-driven space robots for on-orbit services

作     者：Jianqing PENG Haoxuan WU Tianliang LIU Yu HAN Jianqing PENG;Haoxuan WU;Tianliang LIU;Yu HAN

作者机构：School of Intelligent Systems EngineeringShenzhen Campus of Sun Yat-sen UniversityShenzhen 518109China Guangdong Provincial Key Laboratory of Fire Science and TechnologyGuangzhou 510006China School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen 518055China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2023年第36卷第2期

页      面：402-416页

核心收录：

学科分类：08[工学] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：supported by the National Natural Science Foundation of China(No.62103454) the Key-Area Research and Development Program of Guangdong Province(No.2020B1111010001) the Guangdong Basic and Applied Basic Research Foundation(No.2019A1515110680) the Shenzhen Municipal Basic Research Project for Natural Science Foundation(No.JCYJ20190806143408992) the Fundamental Research Funds for the Central Universities(No.2021qntd08) Sun Yat-sen University 

主　　题：Coupled active–passive(CAP) Hybrid series-parallel Multilink cable-driven space robot(MCDSR) Nonlinear optimization(NOP) On-orbit services(OOSs) Robotics Space 

摘      要：The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent ***,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference)has greatly restricted the application of *** coupled active-passive multilink cable-driven space robot(CAP-MCDSR)has the characteristics of slim body,flexible movement,and electromechanical separation,which is very suitable for extreme space ***,the dynamic and stiffness modeling of CAP-MCDSRs is challenging,due to the complex coupling among the active cables,passive cables,joints,and the *** deal with these problems,this paper proposes a workspace,stiffness analysis and design optimization method for such type of ***,the multi-coupling kinematics relationships among the joint,cables and the end-effector are *** on hybrid series-parallel characteristics,the improved coupled active–passive(CAP)dynamic equation is ***,the maximum workspace,the maximum stiffness,and the minimum cable tension are resolved,among them,the overall stiffness is the superposition of the stiffness produced by the active and the passive ***,the workspace,the stiffness,and the cable tension are analyzed by using the nonlinear optimization method(NOPM).Finally,an 8-DOF CAP-MCDSR experiment system is built to verify the proposed modeling and trajectory tracking *** proposed modeling and analysis results are very useful for practical space applications,such as designing a new CAP-MCDSR,or utilizing an existing CAP-MCDSR system.