Coupled vibration characteristics of spatial redundant cable-driven parallel mechanism

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Journal of Vibration and Shock ›› 2023, Vol. 42 ›› Issue (5) : 295-304.

YU Jinshan1, TAO Jianguo1, WANG Guoxing2, LI Xiao3, WANG Haowei3

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Abstract

Aiming at the on-orbit assembly task of large space structures, a scheme of cable-driven parallel mechanism(CDPM) is proposed, and its vibration characteristics are studied. Firstly, the stiffness matrix of the mechanism is deduced based on differential transformation. The vibration equation is established on this basis, and the analytical expressions of each order mode are obtained. Secondly, the influence of the pose of the moving platform and the level of cable tension on the vibration characteristics of the mechanism is analyzed through theoretical calculation, and the vibration law of the mechanism under different working conditions is studied through simulation. Finally, a scaled prototype of the CDPM is built and the vibration characteristics experiment of the mechanism is carried out, which further verifies the correctness of the vibration model and the validity of the simulation results. The results show that when the moving platform is at the center position, the modes of each order are decoupled, and the vibrations in different directions do not affect each other. At the edge position, the modes of each order have strong coupling, and the disturbance force in one direction will cause vibration in multiple directions. The vibration frequency is mainly the first and second order natural frequencies. The research results have guiding significance for the vibration control of CDPM.

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CDPM / stiffness / vibration characteristic / inherent frequency

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YU Jinshan1, TAO Jianguo1, WANG Guoxing2, LI Xiao3, WANG Haowei3. Coupled vibration characteristics of spatial redundant cable-driven parallel mechanism[J]. Journal of Vibration and Shock, 2023, 42(5): 295-304

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