Mechanism Design,Analysis And Control Of A6Degree-of-freedom Crane Robot With3Wires

Parallel robots have become a research field of robotics. As a special type of wire-and-link hybrid crane robots,6-degree-of-freedom wire-driven crane robot with3wires has potential application prospect, but the research of the wire-driven crane robots has not yet been into system at present, just few researchers were engaged in the mechanism improvement and the trajectory tracking control methods of6degree-of-freedom crane robots with3wires, and they had gained some study works.For this, in this thesis we have analyzed the generalized inverse pose kinematics problems of the mechanism previous researchers proposed and the new mechanism we designed for6-degree-of-freedom crane robot with3wires and explored the feasibility of these mechanism design; in addition, for the trajectory tracking control strategy of6-degree-of-freedom crane robot with3wires, we will study the strategy based on the dynamic friction compensation and the strategy based on the differential flatness to explore the useful trajectory tracking control methods of the payload of the robot in the theory; moreover we also constructed experiment prototype and carried on a part of the work of trajectory control experiments.For6-degree-of-freedom crane robot with3wires, the major research contents of this thesis are as follows:1. For the6-degree-of-freedom crane robot with3wires, the new mechanism configurations are designed on the basis of the improvement mechanism previous researchers proposed.2. Based on the system model (emphasis on dynamics model) of6-degree-of-freedom crane robot with3wires, the generalized inverse pose kinematics problems of the improvement mechanism previous researchers proposed and the new design mechanism in this thesis are analyzed, whether the constraint of the mechanism is enough is explored, the feasibility of improvement mechanism and new design mechanism of the robot is pointed out from this point.3. For the trajectory tracking control strategy of the payload, the strategy based on dynamic friction compensation is studied and the feasibility of the trajectory tracking control method from the simulation analysis of2-degree-of-freedom gantry crane robot is proven.4. For6-degree-of-freedom crane robot with3wires, the trajectory tracking control strategy based on system differential flatness is theoretically deduced, and the feasibility of the control strategy is proven by simulation.5. Experiment prototype has been constructed and a part of work of trajectory control experiment is carried on.In the last, the leftover problems have been summarized in this thesis and the further research directions are pointed out.