Analysis of kinematics and leveling performance of a novel cable-driven parallel automatic leveling robot for spacecraft hoisting

<p dir="ltr">In this paper, a novel parallel cable-driven automatic levelling robot with a two-stage adjustment function is proposed, which has the advantages of high load-bearing capacity and easy attitude adjustment. It is mainly applied to spacecraft hoisting. A theoretical model of the cable adjustments is established and its adjustment scheme is analyzed and optimized. The relationship between the inclination angles and the counterweight adjustment displacement is established to better improve the levelling accuracy based on the force and torque balance principle. The simulation and experiment results showed that the proposed cable and counterweight adjustment algorithms can achieve the desired leveling goals. The leveling accuracy is less than 0.11° after the two-stage adjustment, meeting the accuracy requirements for practical conditions. This study offers new solutions for spacecraft hoisting, also provides theoretical basis and reference for the optimization design and precise control of the robot in the future.</p>