A Novel Cable-Driven Joint Module for Space Manipulators: Design, Modeling, and Characterization

Abstract

Space activities such as asteroid capture and on-orbit construction of ultra-large spacecraft will significantly increase the operating distance and torque requirements of the space manipulator. In this article, we propose a new cable-driven joint module for space robots based on the idea of a cable-stayed bridge structure, and deeply investigate its driving properties. First, we give the structural design for the cable drive joint module. Using a clever combination of drive cables, special hinges, and spreader construction, the designed joint module allows <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm 180^{\circ }$</tex-math></inline-formula> rotation and can achieve high torque and high stiffness properties at a low quality cost. Second, the kinematics model, statics, and stiffness model of the joint module are established. On this basis, the kinematic, Jacobi, torque, and stiffness characteristics of the joint are discussed in detail. Finally, we built an experimental system of the cable-driven joint module, and tested the repeatability, torque, and stiffness of the joint module. The results show the unique characteristics of the mechanism and verify the correctness of the theoretical model and characteristic analysis.