Analysis And Control System Research Of A 3-DOF Cable Driven Parallel Manipulator

Cable-driven parallel manipulator has a larger number of advantages, such as simple structure, large workplace, rapid movement, big load and so on. More and more researchers and engineers paid attention on it because of its high research and development value. The aerial camera robot is the most advanced camera equipment. This paper, based on the aerial camera robot development needs, focuses on a 3-DOF cable-driven parallel manipulator, study about catenary modeling, tension optimization, workspace, static stiffness and control strategy, and develop hardware and software of the control system. The main contents are as follows:This thesis focuses on research of a 3-DOF cable-driven parallel manipulator, considering the gravity of cable, establish single cable catenary model. Because cable easily happen pseudo-drag, I give the judgment conditions of pseudo-drag. Then I establish the model of 3-DOF cable-driven parallel manipulator. As the solution of the cable force is not unique, I consider restricting the dangling of the cable to optimize the cable force. It turns out effective and feasible and can easily calculate the cable length. I give the tension controllable workplace and analysis how structural factors affect workplace. Analysis the static stiffness distribution of the mechanism in workplace, through simulation proves it can meet the requirements.This paper studies from two aspects about Control Strategy. On the one hand, I establish a single-branched control model, for the deficiencies of the existing control system, improve the position loop controller, which can improve the response performance. On the other hand, as cable driven parallel mechanism is redundant, nonlinearity, hysteresis and susceptible to external interference, combine fuzzy control and PID control to turn real-time and online PID parameters, which effectively improve the control system performance.Finally, according to the control system requirements, designed the overall of the control system hardware, which include a detailed description of hardware components and electrical design. I build the hardware platform of a 3-DOF cable-driven parallel manipulator. Based on TwinCAT development environment, plan the control system software modules and develop control programs, focusing on motion control module and human machine interface module, complete the control system software development. It has a strong practical value.