The Control And Research On Planar Wire-driven Parallel Mechanisms

Wire-driven parallel robots (WDPR) is widely used and develops quickly as a new type of robot system. For this kind of robot possessing characteristics of high-accuracy, high-stiffness, large load capacity, small work space, high velocity, excellent dynamic response and so on., it attracts more and more scholars' research.This paper does a survey of about the research of WDPR from domestic and abroad researchers. The plane WDPR is chosen as a research subject, the cables layout is analyzed, which focus on statics analysis, work space. At last the cables layout is confirmed in this paper.We developed a WDPR experimental prototype robot. Lately a MATLAB/SimMechanics simulation analysis results based on the prototype shows that the motions of different direction will not interfere with each other when we ignore the cables'elastic deformationThree control schemes of plane WDPR are proposed. Through comparing the advantages and disadvantage of different control schemes, the best control scheme is chosen.Base on dSPACE semi-physical simulation system, the characteristics of driver and performance of tracking trajectory of plane WDPR are given from various experiments, including system calibration experiment, linear motion control experiment, rotation control experiment, complex motion control experiment, and trajectory tracking experiment. By analyzing experimental results, it's known that the prototype can satisfy the experimental demands of control performance and precision.