Dynamics Modeling and Analysis of Cable-Driven Joints Used in Space Manipulator
Year: 2025
Type: article
Abstract: Cable-driven joints are important units of the space manipulator. It is a necessary task to establish dynamics models of joints in the manipulator design and test process. This paper built low-dimensional dynamics models and analyzed dynamics characteristic of cable-driven elbow and wrist joints. The linear dynamics equation under small angle conditions was obtained by linearization of the equation. The amplitude-frequency and phase-frequency characteristics of the joints were analyzed. The simulation results were agreed with the theoretical ones, and the simulation results of low-dimensional and high-dimensional models were also consistent, which proved the correctness of the low-dimensional dynamics model. The dynamics modeling and analysis results could provide an important guide for controller design.
Source: IFAC-PapersOnLine
Authors: Jiang Cui, Yang Deng, Xudong Zheng, Zhili Hou, Zhang Chen, Bin Liang, Rui Su
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4416788264