The Rope Traction Analysis And Control Of Parallel Mechanism

Among the several means of power transmission, wire (tendon) has the advantages of being quiet, clean, not needing lubrication, being able to absorb shock, easy installation and lower maintenance costs. A wire-driven parallel mechanism not only has the merits of a wire-driven mechanism, but also its actuators are usually installed on the base to reduce the size and inertia of a manipulating system. Main advantages are low structure weight, very high rigidity, and very high accuracy in positioning. Therefore, it is attached much importance to can be used in mechanism manufacturing, big radio telescopes, great ship building, virtual reality haptic interface and so on.Based on the research results of others, the wire-driven parallel mechanism is studied. In this paper, a new type of two degree of freedoms (DOFs) wire-driven parallel mechanism is researched and its models of kinematics, statics, and dynamics are established and solved. The control system is designed by using computed torque method. At last, the results of the simulation under the environment Simulink verify them all.Specially, the statics model of the wire-driven parallel mechanism of more than two DOFs is studied and two methods for the solution are presented. The model is usually an inhomogeneous system of linear equations. It is pointed out that the general solution of the homogeneous system of linear equations can satisfy the request of making the wires tight, and the special solution of the inhomogeneous system of linear equations are not smaller than zero, so their sum is greater than a given mumble. With the conditions of the variables, a standard linear programming model is established and therefore the special solution of the inhomogeneous system of linear equations can be available easily by the simplex method. What's more, based on this method, the other is put forward, in which the tension can be calculated by a linearprogramming model and smaller than the results of other methods. The two methods are compared and verified by the examples.