View in EDS

Movable Anchor Cable‐Driven Parallel Robot and Its Application in Ground Microgravity Experiment for Long‐Span Flexible Manipulators.

Saved in:
Bibliographic Details
Title: Movable Anchor Cable‐Driven Parallel Robot and Its Application in Ground Microgravity Experiment for Long‐Span Flexible Manipulators.
Authors: Li, Xiran1 (AUTHOR), Li, Zuan2 (AUTHOR), Wu, Hailei2 (AUTHOR), Han, Fei2 (AUTHOR), Yuan, Han1 (AUTHOR) yuanhan@hit.edu.cn
Source: Journal of Field Robotics. May2026, Vol. 43 Issue 3, p2069-2089. 21p.
Subjects: Parallel robots, Manipulators (Machinery), Reduced gravity environments, Fault tolerance (Engineering), Simulation methods & models
Abstract: The microgravity environment in space eliminates the need to constrain the arm length of flexible manipulators, enabling their full flexibility for critical tasks such as on‐orbit maintenance, assembly, and refueling. However, ground‐based development of these manipulators still have to overcome gravity, making it challenging to accurately evaluate their performance in space. This study presents a ground microgravity simulation system based on cable‐driven parallel robot (CDPR) and designed for long‐span flexible manipulators. Existing methods such as air‐floating, water‐floating, and passive cable suspension systems suffer from limitations in sealing, multidimensional control, accuracy, and active response. CDPR utilize parallel cables to suspend objects and dynamically balance gravitational forces, offering advantages in structural simplicity, large workspace, full degrees of DOF, and high dynamic response. Traditional static anchor CDPR lack dynamic reconfiguration, active tracking compensation, and cable collision avoidance capabilities. To address these challenges, we propose a multi‐anchor, high‐precision dynamic anchor CDPR system. We established its dynamic model, developed cable collision avoidance algorithms, and implemented compliance control strategies. Experimental validation demonstrated a maximum gravity compensation error of 1.37 N for long‐span flexible manipulators gravity compensation. This system provides a high‐fidelity ground microgravity environment for space flexible manipulators, offering reliable experimental support for aerospace applications. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
FullText Text:
  Availability: 0
Header DbId: egs
DbLabel: Engineering Source
An: 192849382
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
IllustrationInfo
Items – Name: Title
  Label: Title
  Group: Ti
  Data: Movable Anchor Cable‐Driven Parallel Robot and Its Application in Ground Microgravity Experiment for Long‐Span Flexible Manipulators.
– Name: Author
  Label: Authors
  Group: Au
  Data: <searchLink fieldCode="AR" term="%22Li%2C+Xiran%22">Li, Xiran</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Li%2C+Zuan%22">Li, Zuan</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Wu%2C+Hailei%22">Wu, Hailei</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Han%2C+Fei%22">Han, Fei</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Yuan%2C+Han%22">Yuan, Han</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> yuanhan@hit.edu.cn</i>
– Name: TitleSource
  Label: Source
  Group: Src
  Data: <searchLink fieldCode="JN" term="%22Journal+of+Field+Robotics%22">Journal of Field Robotics</searchLink>. May2026, Vol. 43 Issue 3, p2069-2089. 21p.
– Name: Subject
  Label: Subjects
  Group: Su
  Data: <searchLink fieldCode="DE" term="%22Parallel+robots%22">Parallel robots</searchLink><br /><searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br /><searchLink fieldCode="DE" term="%22Reduced+gravity+environments%22">Reduced gravity environments</searchLink><br /><searchLink fieldCode="DE" term="%22Fault+tolerance+%28Engineering%29%22">Fault tolerance (Engineering)</searchLink><br /><searchLink fieldCode="DE" term="%22Simulation+methods+%26+models%22">Simulation methods & models</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: The microgravity environment in space eliminates the need to constrain the arm length of flexible manipulators, enabling their full flexibility for critical tasks such as on‐orbit maintenance, assembly, and refueling. However, ground‐based development of these manipulators still have to overcome gravity, making it challenging to accurately evaluate their performance in space. This study presents a ground microgravity simulation system based on cable‐driven parallel robot (CDPR) and designed for long‐span flexible manipulators. Existing methods such as air‐floating, water‐floating, and passive cable suspension systems suffer from limitations in sealing, multidimensional control, accuracy, and active response. CDPR utilize parallel cables to suspend objects and dynamically balance gravitational forces, offering advantages in structural simplicity, large workspace, full degrees of DOF, and high dynamic response. Traditional static anchor CDPR lack dynamic reconfiguration, active tracking compensation, and cable collision avoidance capabilities. To address these challenges, we propose a multi‐anchor, high‐precision dynamic anchor CDPR system. We established its dynamic model, developed cable collision avoidance algorithms, and implemented compliance control strategies. Experimental validation demonstrated a maximum gravity compensation error of 1.37 N for long‐span flexible manipulators gravity compensation. This system provides a high‐fidelity ground microgravity environment for space flexible manipulators, offering reliable experimental support for aerospace applications. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=192849382
RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1002/rob.70129
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 21
        StartPage: 2069
    Subjects:
      – SubjectFull: Parallel robots
        Type: general
      – SubjectFull: Manipulators (Machinery)
        Type: general
      – SubjectFull: Reduced gravity environments
        Type: general
      – SubjectFull: Fault tolerance (Engineering)
        Type: general
      – SubjectFull: Simulation methods & models
        Type: general
    Titles:
      – TitleFull: Movable Anchor Cable‐Driven Parallel Robot and Its Application in Ground Microgravity Experiment for Long‐Span Flexible Manipulators.
        Type: main
  BibRelationships:
    HasContributorRelationships:
      – PersonEntity:
          Name:
            NameFull: Li, Xiran
      – PersonEntity:
          Name:
            NameFull: Li, Zuan
      – PersonEntity:
          Name:
            NameFull: Wu, Hailei
      – PersonEntity:
          Name:
            NameFull: Han, Fei
      – PersonEntity:
          Name:
            NameFull: Yuan, Han
    IsPartOfRelationships:
      – BibEntity:
          Dates:
            – D: 01
              M: 05
              Text: May2026
              Type: published
              Y: 2026
          Identifiers:
            – Type: issn-print
              Value: 15564959
          Numbering:
            – Type: volume
              Value: 43
            – Type: issue
              Value: 3
          Titles:
            – TitleFull: Journal of Field Robotics
              Type: main
ResultId 1