Title :
Dynamics analysis of a cable-driven parallel manipulator for hardware-in-the-loop dynamic simulation
Author :
Ma, Ou ; Diao, Xiumin
Author_Institution :
Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM
Abstract :
This paper describes a preliminary study of the dynamics of a 6-DOF cable-driven parallel manipulator for a potential application in a ground-based hardware-in-the-loop simulator of microgravity dynamics and contact-dynamics of spacecraft or robotic systems. Two basic dynamics problems are studied. One is the inverse dynamics problem and the other is the rigidity and vibration problem. The study results support the feasibility of using such a cable-driven manipulator for hardware-in-the-loop simulation of contact dynamics
Keywords :
aerospace robotics; digital simulation; inverse problems; manipulator dynamics; shear modulus; space vehicles; vibration control; cable-driven parallel manipulator; contact-dynamics; dynamics analysis; hardware-in-the-loop dynamic simulation; inverse dynamics problem; microgravity dynamics; rigidity; spacecraft; vibration problem; Analytical models; Computational modeling; Computer simulation; Manipulator dynamics; Orbital robotics; Physics computing; Predictive models; Satellites; Space vehicles; System testing;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511113
