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Dynamics and Force Regulation of Fully Constrained Cable-Driven Parallel Mechanism as a Marine Salvage Device

A Marine salvage device generally requires the operation can be carried out under the interference of waves and wind in rough ocean circumstances. This paper presents a fully constrained cable-driven parallel mechanism as a salvage device with low self-weight, high speed and large workspace. It controls the motion of the moving platform through eight cables which should always being in tension to prevent the sagging and remain rigidity of the mechanism. In this paper, the integrated dynamic model of this cable-driven parallel mechanism first be derived and the control scheme then be developed. To retain cable tensions positive, avoiding loose or sagging, a closed-form force distribution method is employed. In the end, simulation results validated the effectiveness of modeling and force distribution control.