Workspace Analysis and Tension Optimization Design in Docking Parallel Mechanism Driven by Seven Cables

With the advantage of large workspace,low energy consumption and small inertia,a flexible cable parallel manipulator is suitable for heavy workpiece with great length-diameter ratio in hoisting and docking process.A flexible parallel docking mechanism with 6-DOF driven by cables is presented.The structure matrix of the flexible parallel manipulator is deduced by a statics equation.Based on the null space of the structure matrix,the controllable and the feasible workspace are achieved in given design parameters.Hinged angle,radius of moving plate and radius of pulling cables are selected by comparing the volume of the workspace.In order to uniform the cable tensions,the change of pulling cable tensions is calculated with different parameters.In addition,combined with workspace analysis and tension feature,the ultimate parameters are assured,which can satisfy the demand of design.