Analysis of Cable-Force Transmission Characteristics and Disturbing Force/Moment of High-Acceleration Cable-Driven Parallel Mechanism

During the landing process of a probe, the backshell separation stage is full of uncertainty and risk. To mitigate this, it is necessary to simulate spacecraft separation prior to launch to verify safety and performance. A high-acceleration cable-driven parallel mechanism is normally used to simulate the force state required for the backshell to separate. Unfortunately, little attention has been paid to research the cable force on the end-effector, especially under high acceleration. In this article, a dynamic model of the cable-force transmission is proposed. The influences of disturbing force/moment on the position and orientation of the end-effector and axial force are analyzed. Indices for evaluating the performance of the cable-force transmissions are proposed. The factors affecting the performance are also explored. Finally, the experimental results are used to verify the correctness of the proposed dynamic model. The deviation caused by the disturbing force/moment is basically consistent with the desired deviation. The increase in the disturbing force/moment correspondingly reduces the resultant force of the end-effector. A series of experiments provide guidance and a theoretical basis for a ground simulation experiment of spacecraft separation.