Modeling, Control And Experimental Platform Design Of The Winding Hybrid-driven Cable Parallel Manipulator

This thesis was supported by Chinese National Natural ScienceFoundation, entitled by “On key technologies of hybrid-driven-based cableparallel manipulator (50905179)”. A modified parallel robot has beendesigned named winding hybrid-driven cable parallel manipulator(WHDCPM). The dynamic modeling， trajectory tracking control andexperimental platform design of the WHDCPM are studied. The mainresearch works can be described as follows:1. According to the problem of limited workspace about conventionalhybrid-driven cable parallel manipulator(HDCPM), this paper designs adriving mechanism of winding hybrid-driven mechanism(WHDM), andanalyzes the kinematics model of the WHDM. On this basis, the workspaceof WHDM is calculated, and the driving point trajectory is planned. Bymotion simulation, this paper has proved that the mechanism is reasonable.2. On the basis of kinematic analysis about WHDM, the wholekinematics model of WHDCPM is established. Based on the kinematicsJacobi matrix of parallel robot, the dexterity is analyzed with conditionindex. In addition, the dynamic model of WHDCPM is established by theLagrange method, and the dynamic force and input and output torque ofWHDCPM are analyzed by Lagrange equation. Based on the static forceJacobi matrix, analysis of the carrying capacity of WHDCPM, and gets thepayload index on different section of the workplace.3. PID control and Fuzzy adaptive control principle on robot contro lsystem are analyzed. According to the kinematics and dynamic model o fWHDCPM, the PID and Fuzzy adaptive controller are designed for theparallel robot. The control simulation of WHCPM is carried out through thetwo kinds of control method, and the results were compared respectively.4. According to theory research of WHDCPM experimental platform,the mechanical structure and electrical control system of WHDCPM havebeen completed, and the structure parameters and manufacturing process o fexperiment platform are determined. In addition, this paper has designed themotion feedback control system based on motion control board as the centerand a variety of data sensors as helper.