Analysis of Kinematics and Leveling Performance of a Novel Cable-Driven Parallel Automatic Leveling Robot for Spacecraft Hoisting

Aiming at the problems of excessive dependence on manual operations, unquantifiable parameters, low hoisting efficiency, and low level of automation and informatization in the lifting process of spacecraft, a novel cable-driven parallel automatic leveling robot with a two-stage adjustment function is proposed. It contains a cable-driven parallel mecha-nism and a counterweight compensation mechanism and has the advantages of high load-bearing capacity and better posture adjustment. Its kinematics and leveling perfor-mance are studied systematically. First, a geometric model of the robot is established, and the inverse position is derived. Second, the system's eccentric coordinates are solved based on the inclination angles of the moving platform. A theoretical model of the cable adjust-ment length is established according to the eccentric coordinates, and the cable adjust-ment scheme is analyzed and optimized. Third, according to the optimal cable adjust-ment scheme, the relationship between the inclination angles and the counterweight's adjustment displacement is established to better improve the leveling accuracy based on the force and torque balance principle. Finally, the kinematics and leveling performance are verified through MATLAB numerical calculations, ADAMS simulation and experi-mental study, proving that the robot could realize the hoisting and leveling task.