Journal of Astronautics ›› 2018, Vol. 39 ›› Issue (5): 569-577.doi: 10.3873/j.issn.1000-1328.2018.05.012

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Analysis of the Workspace of Flexible Cable Driven Haptic Interactive Robot

ZHANG Li xun, SONG Da, LI Lai lu, XUE Feng   

  1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
  • Received:2017-08-21 Revised:2018-01-15 Online:2018-05-15 Published:2018-05-25


In order to realize the virtual operation training of astronauts on the ground, based on the cable driven parallel robot, research on the flexible cable combined with the VR technology and the feasible wrench workspace of the parallel haptic interactive robot is carried out. A static model of the planar cable is built, the 4-flexible-cable 3-degrees-of-freedom end effector with different poses within the vertical pane and the feasible wrench workspace are analyzed, and the effects of the different layout, the external wrench and the different structural parameters of the end effector on the feasible wrench workspace in the practical applications of the flexible cable-driven haptic interactive robot are investigated. The feasible wrench workspace, the reasonable flexible cable layout and the structural parameters of the end effector are determined. The flexible cable driven force interactive robot has a large workspace, large force and torque, variable stiffness, high safety and strong human-machine interaction, and can meet the needs of the virtual operation training of astronauts.

Key words: Cable parallel robot, Workspace, Static model, Human machine interaction

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