Available Wrench Set and Workspace Analysis of a Cable-Driven Parallel Mechanism for On-Orbit Assembly

Abstract

Aiming at the on-orbit assembly task requirements of large space structures, a space cable-driven parallel mechanism (CDPM) is proposed, and its available wrench set (AWS) and workspace are studied. By mapping the tension space (TS) to the wrench space, the AWS of the CDPM is obtained, and the influence of the moving platform position and cable tension on the AWS is analyzed. Then, based on the hyperplane shifting method, a algorithm for solving the feasible wrench workspace (FWWS) of CDPM is established. Considering the complex assembly reaction force on the moving platform in the assembly process and the acceleration requirements during the movement process, the FWWS in the assembly process and dynamic feasible workspace (DFWS) are solved respectively. Finally, for the on-orbit assembly task of the CDPM, the feasible workspace (FWS) is proposed and calculated. The FWS can meet the requirements of the assembly reaction force in the assembly process and the acceleration requirements in the movement process at the same time, and has strong application value, which plays a guiding role for the design of the CDPM.