Gwangyeol Cha

Gravity Compensation Strategy of Space Robotic Arm for On-Ground Testing Using Gyroscope-Type Coupling Interface and Cable-Driven Parallel Robot

Space robotic arms are designed to operate in microgravity environments, so their own weight makes them difficult to move on Earth's 1g surface. A cable-driven parallel robot (CDPR) can handle partially the arm's self-weight, enabling operation on the ground. The CDPR connects to a specific point on