Study On Mechanisms Of Parallel Wire Driven Robot

The Parallel Wire Robot (PWR) appeared in 1980's is a new type of parallel robot, the weight of which is greatly reduced because the manipulator is actuated by wires instead of links. This kind of mechanism has advantages of comparatively higher stiffness, precision, load capability and compact structure but the disadvantage of comparatively smaller workspace. The advantages and the disadvantage are all intervenient of those of the serial robot and the parallel link robot. According to the different of the means for tensing wires, the PWR can be divided into two classes: the Parallel Wire Suspended Robot (PWSR) and the Parallel Wire Driven Robot (PWDR). The latter, being a closed loop redundantly actuated mechanism, have larger workspace and higher stiffness than the former, and it can realize high-speed manipulation. So it can be applied in a much wider field.A new concept of Parallel Wire Driven Robot applied in wind tunnels experimentation is recently presented. The basic idea is adopting several parallel high elasticity wire to drive model of aircrafts, via controlling the length of wires to change the pose of model of aircrafts, realizing the 6-DoF movements, emulating the real aircrafts, and producing dummy mass and inertia to measure force and moment, which acted on aircrafts.Kinematics, dynamics and control model of Parallel Wire Driven Robot applied in wind tunnels experimentation are not discussed in theory, many conclusions is at period of experiment. To realize Parallel Wire Driven Robot applied in wind tunnels experimentation, the guidance in theory is necessary. This paper will research in structure design of parallel mechanisms, inverse kinematics and based on three-pyramid method forward kinematics, analysis and synthesis of workspace and the problem of optimal tension distributing of actuation redundancy for aircraft wind tunnels.Firstly, analysis structure forms of mechanisms, for convenience of discussion, the models of aircraft is abstracted a cross form and column form, and are generally called movement. Based on structure characteristic of mechanisms carried through optimal design of structure, confirmed structure form and distribution of wires.Secondly, analysis of inverse kinematics and based on three pyramid method...