Innovation Design Of The Cable-driven Manipulator

Series robot has the advantages of simple structure and large workspace, and theshortcoming of low stiffness and low payload capacity; parallel robot has theadvantage of large payload capacity and high stiffness, and the disadvantage ofsmall workspace. In this paper, a cable-driven manipulator is proposed based on TRIZ,the structure of this machine is design and the kinematic and dynamics analysis aregiven. The main contents are as follows:Firstly, the conflicts of the series robot and the parallel robot are analyzed byTRIZ, and then the function parameters are defined. The separation principle andcontradiction matrix are used to obtain the corresponding principles of the inventionrespectively. Then a new cable-driven serial manipulator is invented. Thismanipulator not only has a high large payload capacity but also has a large workspace.Secondly, the cable-driven manipulator is designed in details. Different forms ofthe cables transmission are selected on different occasions. The structure of theshoulder is focused on, and the winding of the cable and the fixation of cable isdetermined. In fact, a test prototype is produced, and it works well.Thirdly, the screw theory and product of exponential formula are used to buildkinematics model of the manipulator. At the same time, the motion characteristics ofmanipulator are analyzed by MATLAB. Lagrange’s equation is used to establishdynamics model of manipulator. The dynamics characteristics of manipulator aresimulated by ADAMS. So characteristic of core parts under given dynamic load canbe obtained. Simulation conducted by RecurDyn can get the cable running load on thestructure.Finally strength of structure for the device is analyzed by Finite Element Method.The relationship between stress and structural dimensions can be obtained by ANSYS,and the optimized design is aim to get the minimum of material. The topologyoptimization design method is further used to simplify the structure of manipulator to improve material utilization. Ultimately cable-driven manipulator is successfullyproduced.