Graduate Studies
First Advisor
Carl A. Nelson
Date of this Version
8-2024
Document Type
Thesis
Citation
A thesis presented to the faculty of the Graduate College at the University of Nebraska in partial fulfillment of requirements for the degree of Master of Science
Major: Mechanical Engineering and Applied Mechanics
Under the supervision of Professor Carl A. Nelson
Lincoln, Nebraska, August 2024
Abstract
Cable-driven parallel robots (CDPRs) boast advantages such as large workspace and large payload-to-weight ratio, among others. In the context of maintenance of space structures, these properties could be beneficial. However, CDPRs have not yet been widely applied in the domain of space exploration. The goal of the work presented in this thesis is to model a novel CDPR with a reconfigurable structure which can be placed to traverse large areas of space, with space structure maintenance in mind as a potential target application. This thesis covers the modeling of a generic geometry CDPR, the prototyping and testing of an anchor shooting mechanism for the anchor reconfiguration process, discussions on position and velocity kinematics, force analysis, pose feasibility, and cable collision detection. A simulation example is also presented to further illustrate the concepts related to these criteria for assessing potential re-anchoring locations on space structures. An algorithm for automating the re-anchoring process and quantifying the quality of different anchor points is also presented.
Advisor: Carl A. Nelson
Comments
Copyright 2024, Han Wei Ang. Used by permission