| Cable-driven parallel robot is a new type of robot which locates and orientates its end-effector in the expected workspace by cables instead of rods.It has high research values because of its simple structure,little inertia,relatively light mechanism,rapid movement,large translational workspace,easy reconfiguration,and lower cost of manufacture and maintenance.So lots of researchers are concentrated in the cable-driven parallel robot.Combine with the former research experience,in this paper,two different applications of the cable-driven are researched based on its theoretical researches.The main works in this paper are as follow:The basic theories of cable-driven parallel robot are analyzed;including degree of freedom,kinematics,statics,dynamics,workspace solving,singularity,tension solving,stiffness and so on.And the universal basic theoretical models of cable-driven are established,which are the foundations of the applications of the cable-driven.Considering in planar application of the model of cable-driven parallel robot,the extravehicular transport robot model is established.Considering its three-dimensional application,the football match shooting robot model is established.Then two novel robots have been designed to meet these two applications,and then the robots are simulated and analyzed respectively.Finally,the mechanical structure and control system of cable-driven parallel robot are designed,and the prototype of the extravehicular transport robot is constructed.The translational motion along the planned trajectory in plane has been successfully controlled by the prototype,which can proves the validity of this research work.In this paper,the universal theories of cable-driven can provide theoretical basis for practical application;two different applications are considered;the two designed robots provide certain reference values and practical guidance for the design of different combination of configuration and freedom under different application. |
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