Huisong Wu, Kaichun Zeng, Li Yu, Yan Li, Xiping Kou*
CMES-Computer Modeling in Engineering & Sciences, Vol.135, No.1, pp. 395-416, 2023, DOI:10.32604/cmes.2022.021650
Abstract An underconstrained cable-driven parallel robot (CDPR) suspension system was designed for a virtual flight testing (VFT) model. This mechanism includes two identical upper and lower kinematic chains, each of which comprises a cylindrical pair, rotating pair, and cable parallelogram. The model is pulled via two cables at the top and bottom and fixed by a yaw turntable, which can realize free coupling and decoupling with three rotational degrees of freedom of the model. First, the underconstrained CDPR suspension system of the VFT model was designed according to the mechanics theory, the degrees of freedom were verified, and the support platform… More >
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