System Analysis And Motion Control Of A 6-DOF Wire-driven Parallel Manipulator With 3R3T Type

The research on wire-driven parallel manipulator becomes one of hotspots in the world recently.It's so valuable in various areas including aviation,military affairs, industry,science research and so on.There is potential appliance foreground in many fields.For example,robot of architecture,force feedback setting and touch setting of dummy practice,large motion emulator,large radio telescope,super high speed robot, light robot in super large workspace,aviation spaceflight,manufacture of large steamship and naval ships,mechanical process and other situation.In this paper,a 6-DOF wire-driven parallel manipulator support system for low speed wind tunnel has been researched including manipulator design,theory analysis, dynamic simulation,constructing manipulator and motion control experiment.A 6-DOF wire-driven parallel manipulator with 3R3T type WDPSS-8(WDPSS: Wire-Driven Parallel Suspension System) has been designed.The analysis has been carried out in the paper to the positive and inverse solutions of position kinematics, velocity kinematics and acceleration kinematics.The MATLAB optimization Toolbox was involved in the positive solution of position kinematics.The static and dynamic analysis has been applied to WPDSS-8.The cable's tension and the controllable workspace of the aircraft model have been discussed and the model's trace in helix line has been designed.The simulation including the position,velocity,acceleration of the aircraft model and the length,velocity and acceleration of the cables has been finished.The result of simulation is reasonable and accord with the physical sense completely.The practical manipulator has been built and motion control experiments have been implemented according to both theory analysis and numerical simulation above. The mutual validation between the motion control experiments and the theory simulation indicates the research results in theory analysis obtained in the paper are scientific and feasible.The hardware manipulator and software program related to in this paper are the basic for the in-depth research of 6-DOF wire-driven parallel manipulator,and the research WPDSS-8 also can be referenced by other wire-driven parallel manipulators.