Simulation and experimental validation of workspace computation for mobile cable-driven parallel robots in terrestrial and lunar environments

초록

This study aims to quantitatively analyze the workspace characteristics of a mobile cable-driven parallel robot (MCDPR) under varying gravitational conditions and to evaluate its applicability. To this end, we propose a workspace computation algorithm that comprehensively considers tension constraints, tipping prevention, and rotation prevention based on the static equilibrium conditions of the MCDPR. The validity of the proposed algorithm was verified through simulations and experiments, demonstrating strong agreement with theoretical predictions. Subsequently, simulations incorporating lunar gravity and friction conditions were conducted to analyze workspace variations in extraterrestrial environments. The results revealed how reduced gravitational force and friction affected the configuration of the workspace. This study suggests that autonomous construction technology based on MCDPR is feasible for lunar applications and provides foundational data for the design of future space construction platforms.

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