Analysis of Kinematics and Leveling Performance of a Novel Cable-Driven Parallel Automatic Leveling Robot for Spacecraft Hoisting

摘要

Aiming at the problems of excessive dependence on manual operations, unquantifiable parameters, low hoisting efficiency, and low level of automation and informatization in the lifting process of spacecraft, a novel cable-driven parallel automatic leveling robot with a two-stage adjustment function is proposed. It contains a cable-driven parallel mechanism and a counterweight compensation mechanism and has the advantages of high load-bearing capacity and better posture adjustment. Its kinematics and leveling performance are studied systematically. First, a geometric model of the robot is established, and the inverse position is derived. Second, the system’s eccentric coordinates are solved based on the inclination angles of the moving platform. A theoretical model of the cable adjustment length is established according to the eccentric coordinates, and the cable adjustment scheme is analyzed and optimized. Third, according to the optimal cable adjustment scheme, the relationship between the inclination angles and the counterweight’s adjustment displacement is established to better improve the leveling accuracy based on the force and torque balance principle. Finally, the kinematics and leveling performance are verified through MATLAB numerical calculations, ADAMS simulation, and experimental study, proving that the robot could realize the hoisting and leveling task.