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Dynamics Analysis and Experiments of an Underactuated Cable-Truss Mechanism

While many researchers have investigated the dynamics analysis of underactuated mechanisms in recent years, little work has been published on that with underactuated cable-truss mechanism. Dynamics analysis has important significance in the research of trajectory planning, driven project designing and the optimization design of the mechanisms. The mechanism dynamics equations were established based on Lagrange equation and the dynamics equations corresponding to the capture scheme that has been chosen were separately listed. To prove the correctness of the dynamics analysis, the simulation of the capture scheme was presented. Some capture experiments were done in order to verify the adaptive capture function of the underactuated cable-truss mechanism.