Abstract
A novel air-bearing platform driven by flexible cables is proposed, which is mainly used for full-physics simulation of the satellite docking experiments. However, the redundant driven of the flexible cables may lead to non-unique distribution of tension, thus affecting stable motion of the air-bearing platform. To tackle with this problem, a tension distribution algorithm with the minimum 2-norm of the average tension as the optimization goal is proposed in the article. Specifically, the kinematics model of the air-bearing platform driven by the flexible cables is established, and the mapping relationship between the cable length and the velocity of the air-bearing platform is obtained. The static equilibrium equation of the cable driven air-bearing platform is analyzed and a mathematical optimization model of the flexible cable tension distribution problem is established. The tension of each flexible cable is decomposed using the force-closed method, and the multi-objective optimization problem of the mathematical optimization model is converted into a signal-objective optimization problem. Numerical simulation and experimental work is carried out to evaluate the tension distribution algorithm on the stable motion of the driven system under the specific trajectory of the air-bearing platform. The results show that the tension distribution algorithm has an important impact on improving the stability of the air-bearing platform.
Beijing Chaoyang District Collaborative Innovation Project Under Grant No. CYXC2208.
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Jia, J., Wang, G., Che, H., Wen, J. (2023). Tension Distribution Algorithm of Flexible Cable Redundant Traction for Stable Motion of Air-Bearing Platform. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_17
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