Configuration Design and Workspace Analysis of a Large-Scale Motion Simulator Based on Cable-Driven Parallel...

Concentrating on a large-scale motion simulator, this article proposes the cable-driven parallel mechanism (CDPM), whose virtues are simplified geometry, being lightweight, and having a large workspace, high workload, and fast dynamic performance. To meet engineering requirements for motion simulation, we devise several CDPM configurations and establish a systematic selection procedure. The target configuration is determined based on several constraints, including the simulator's installation space, the end-effector's shape and load, and the required degrees of freedom (DOFs) and motion range. We calculate the wrench-closure workspace (WCW) and wrench-feasible workspace (WFW), incorporating the range of posture variations into their volume calculations. These workspaces serve as key criteria for configuration selection. Based on the WFW, we optimize the distal attachment points of the cables connected to the end-effector and adjust the minimum and maximum cable tension constraints. This optimization provides the basis for selecting the cable and motor models and ultimately establishes the optimal configuration. The proposed method encompasses the entire process, from defining large-scale motion requirements to determining the final parameters of the simulator.