Asset Details
Do you wish to reserve the book?
Design of a wire-driven parallel robot for wind tunnel test based on the analysis of stiffness and workspace
Hey, we have placed the reservation for you!
By the way, why not check out events that you can attend while you pick your title.
Oops! Something went wrong.
Looks like we were not able to place the reservation. Kindly try again later.
Are you sure you want to remove the book from the shelf?
Design of a wire-driven parallel robot for wind tunnel test based on the analysis of stiffness and workspace
Do you wish to request the book?
Design of a wire-driven parallel robot for wind tunnel test based on the analysis of stiffness and workspace
Please be aware that the book you have requested cannot be checked out. If you would like to checkout this book, you can reserve another copy
We have requested the book for you!
Your request is successful and it will be processed during the Library working hours. Please check the status of your request in My Requests.
Oops! Something went wrong.
Looks like we were not able to place your request. Kindly try again later.
Journal Article
Design of a wire-driven parallel robot for wind tunnel test based on the analysis of stiffness and workspace
2024
Overview
This paper presents an eight wire-driven parallel robot (WDPR-8) designed to serve as a suspension manipulator for aircraft models during wind tunnel testing. The precision of these tests is significantly influenced by the system’s stability and workspace, both of which are shaped by the geometric configuration of the structure and the tension in the wires. To acquire the efficiency principle of the suspension scheme design for the model, a kinematics model for a WDPR-8 was established. Based on the kinematics model, the stiffness of a WDPR-8 was theoretically studied, and the analytical expression of stiffness matrix of a WDPR was deduced. The stiffness matrix was composed of two terms, one of which is determined by the configuration of suspension system and the other term is determined by the wire tension. Based on the analysis result, a set of suspension scheme was discussed under the calculation of stiffness matrix and workspace analysis. In the discussion process, in addition to the stiffness-maximum calculation, another criterion as force closure is presented, which is useful for increasing the stiffness and workspace of the robot. Finally, a prototype was established according to the analysis result, and the workspace experiments are conducted. Test results indicate that the workspace meets the design requirements, validating the system suspension design method of a WDPR for aircraft model suspension in wind tunnel test considering of the systematic stiffness and workspace.
Publisher
Cambridge University Press
