Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-19-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-19-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism
Da Song
School of Mechanical Engineering, Northeast Electric Power University, Jilin 132012, PR China
School of Mechanical Engineering, Northeast Electric Power University, Jilin 132012, PR China
Gang Li
School of Mechanical Engineering, Northeast Electric Power University, Jilin 132012, PR China
Lixun Zhang
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, PR China
Feng Xue
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, PR China
Lailu Li
Faculty of Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, PR China
Related authors
Xinlei Xiao, Da Song, Yanda Jiang, Bo Cui, Lixun Zhang, and Feng Xue
Mech. Sci., 16, 657–671, https://doi.org/10.5194/ms-16-657-2025, https://doi.org/10.5194/ms-16-657-2025, 2025
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This article designs a three-degrees-of-freedom (3-DoF) series-parallel stabilisation platform (SPSP), analyses the platform's degrees of freedom, establishes an error model, and analyses the degree to which each error affects the attitude error of the moving platform when inputting a sine signal, as well as the degree to which each error source affects the attitude error of the moving platform at a certain attitude.
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Mech. Sci., 15, 209–221, https://doi.org/10.5194/ms-15-209-2024, https://doi.org/10.5194/ms-15-209-2024, 2024
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In this paper, a novel series three-axis stable platform (STSP) is proposed, and its azimuth angle structure, pitch angle structure, roll angle structure, system control scheme, and control strategy are designed. The main function of this stable platform is to isolate the influence of installation carrier movement or external interference and to provide a stable working environment for equipment installed on the stable platform by establishing a stable reference plane.
Xinlei Xiao, Da Song, Yanda Jiang, Bo Cui, Lixun Zhang, and Feng Xue
Mech. Sci., 16, 657–671, https://doi.org/10.5194/ms-16-657-2025, https://doi.org/10.5194/ms-16-657-2025, 2025
Short summary
Short summary
This article designs a three-degrees-of-freedom (3-DoF) series-parallel stabilisation platform (SPSP), analyses the platform's degrees of freedom, establishes an error model, and analyses the degree to which each error affects the attitude error of the moving platform when inputting a sine signal, as well as the degree to which each error source affects the attitude error of the moving platform at a certain attitude.
Da Song, Xinlei Xiao, Ji Ma, and Lixun Zhang
Mech. Sci., 15, 209–221, https://doi.org/10.5194/ms-15-209-2024, https://doi.org/10.5194/ms-15-209-2024, 2024
Short summary
Short summary
In this paper, a novel series three-axis stable platform (STSP) is proposed, and its azimuth angle structure, pitch angle structure, roll angle structure, system control scheme, and control strategy are designed. The main function of this stable platform is to isolate the influence of installation carrier movement or external interference and to provide a stable working environment for equipment installed on the stable platform by establishing a stable reference plane.
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Short summary
The haptic interactive robot based on a cable-driven parallel mechanism studied in this paper is mainly used for interactive training between an astronaut and a virtual environment. This haptic interactive robot can accurately simulate the motion and mechanical characteristics of objects in a microgravity environment and can safely interact with astronauts.
The haptic interactive robot based on a cable-driven parallel mechanism studied in this paper is...