Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-19-2023
https://doi.org/10.5194/ms-14-19-2023
Research article
 | 
30 Jan 2023
Research article |  | 30 Jan 2023

Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism

Da Song, Xinlei Xiao, Gang Li, Lixun Zhang, Feng Xue, and Lailu Li

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Cited articles

Aflakian, A., Safaryazdi, A., Tale Masouleh, M., and Kalhor, A.: Experimental study on the kinematic control of a cable suspended parallel robot for object tracking purpose, Mechatronics, 50, 160–176, https://doi.org/10.1016/j.mechatronics.2018.02.005, 2019. 
Amare, Z., Zi, B., Qian, S., and Zu, L.: Dynamic analysis of electrohydraulic cable-driven parallel robots, P. I. Mech. Eng. C-J. Mec., 233, 1989–1996, https://doi.org/10.1177/0954406218815715, 2019. 
An, C. H., Atkeson, C. G., and Hollerbach, J. M.: Estimation of inertial parameters of rigid body links of manipulators, in: 24th IEEE Conference on Decision and Control, 11–13 December 1985, Fort Lauderdale, FL, USA, 990–995, https://doi.org/10.1109/cdc.1985.268648, 1985. 
Babaghasabha, R., Khosravi, M., and Taghirad, H.: Adaptive robust control of fully-constrained cable driven parallel robots, Mechatronics, 25, 27–36, https://doi.org/10.1016/j.mechatronics.2014.11.005, 2014. 
Chawla, I., Pathak, P. M., and Notashb, L.: Inverse and forward kineto-static solution of a large-scale cable-driven parallel robot using neural networks, Mech. Mach. Theory, 179, 105107, 10.1016/j.mechmachtheory.2022.105, 2023. 
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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.
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