Simulation study demonstrates cable elasticity significantly impacts trajectory accuracy in high-speed space manipulators, highlighting the need for variable-length dynamic modeling.
Cable-driven manipulators present significant advantages in space applications, including lightweight construction, low inertia, and inherent mechanical compliance. Current modeling approaches, however, typically simplify cables as rigid elements, limiting their ability to capture elasticity-induced dynamic behaviors—especially during high-speed operations. This study develops a dynamics model for cable-driven high-agility space manipulators based on the Arbitrary Lagrangian-Eulerian (ALE) approach, which utilizes variable-length elements to accurately simulate the elastic characteristics of cables. Numerical simulations validate the model’s capability to effectively predict cable tensions and reveal the substantial impact of cable elasticity on trajectory accuracy. These advancements establish a foundational framework for the systematic optimization of manipulator dynamics and control strategies.
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Li et al. (2025) studied this question.
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