Research On3-DOF Wire Driven Parallel Robot

Nowadays，with the rapid development of robotics, there has been a new type ofparallel robot, especially wire-driven parallel mechanism such as large radio telescope,hoist mechanism and aerial camera system.Wire-driven parallel mechanism possessesa number of promising advantages over the conventional strut-support parallel robots,such as simple and light-weight mechanical structure, high-precision, high loadingcapacity,fast movement velocity and large reachable workspace.This paper presents the design of three degree of freedom wire-driven parallelrobot with3T type, mainly used for lifting and camera shooting. Mathematical modelof the wire driven mechanism was established to solve kinematics inverse and directkinematics problem.The motion simulation of wires, based on Matlab/simulink, wasgiven in the case of continuous function. The cause of error was analyzed based onexperimental. Hardware platform was builded. The Galil motion controller was usedto control the electromotor, using eclipse to design the human computer interaction inlinux environment and finally realize the3-dof wire driven parallel mechanism.The control strategy is verified on wire-driven parallel mechanism. The results ofcontrol experiment on wire-driven parallel robot reach expected effect. It turns out thatthe operation of end effector was accurately and stable and the design of this parallelmechanism can meet the practical needs.