For Container Lifting Wire-driven Parallel Lifting Equipment

The conventional hoist has a serious deficiency. When the conventional crane works, the load is connected to one point, as a result, the crane can only control the load in vertical orientation, and cannot control moment in other orientation. The outer force can affect the crane easily when the crane is working, and the sway is a threat to loads and nearby people. So it requires high ability to manipulator, and for the normal manipulator it is difficult to do the job. This paper has made some theory analyses about the application of six degree-of-freedom Cable-Driven Parallel Mechanism in container lifting. But the six degree-of-freedom Cable-Driven Parallel Mechanism can control the load in six degree-of-freedom precisely. Because Cable-Driven Parallel Mechanism (CDPM) possesses a number of advantages, such as simple and light-weight mechanical structure etc, it can be applied as hoist crane easily.Based on the current theory and achievement, the paper study from the mechanism structure, and then point out that the connection between the cable-driven parallel mechanism and grasping. And meanwhile the paper get the restrict type of the six degree-of-freedom cable-driven parallel mechanism. The paper get the cable-driven parallel hoist's restrict type through comparing three types of restrict. Then considering the disposal of cable in mechanism and the joint in base platform and moving platform, the paper finally get the model of six degree of freedom cable-driven parallel hoist mechanism.The mechanism's inverse kinematics is got after doing some research. The relation between cable and moving platform in velocity and acceleration are found and then the paper get a conclusion from the velocity and acceleration relation in cable and moving platform, which is tested to right using Matlab simulation. In dynamics, the six degree of freedom cable-driven parallel hoist mechanism's dynamics formulation is got using Newton-Euler formulation. The control scheme and the control law are introduced.As to the workspace .Most of the researchers pay attention to the mechanism position workspace, so the thesis research the workspace in new horizon, and research the mechanism orientation workspace. The paper gets a algorithm about how to get the orientation workspace of the six degree of freedom cable-driven parallel hoist mechanism. The shape of orientation is also got and the paper analyses some parameters which can effect the orientation of mechanism. Then the paper uses Matlab program doing some simulations, and get some achievements.