Design And Model Analysis Of A Kind Of Cable Driven Parallel Camera Robot

Compared with ordinary parallel manipulator, large span cable driven parallel manipulator has the advantages of good load capacity, nice dynamic performance and large translational workspace. It hasn’t only been well applied in the wide range of real-time recording and radio telescope, but also is a popular topic of research all over the world. In this paper, a camera robot is designed based on large span cable driven parallel manipulator, and the related theories are researched for the robot. The main works in this paper are as follow.Due to the particularity of cable driven parallel manipulator, the traditional theories, formulae and results for rigid parallel manipulator cannot be applied to cable driven parallel manipulator directly. This paper studies manipulator’s kinematics from three aspects of inverse solution of position, normal solution of position, inverse solution of position velocity. The statics model of cable driven parallel manipulator is built considered of force balance of moving platform. Based on dynamics of rigid body, dynamic equations of cable driven parallel manipulator are worked out. This paper analyzes solution process of workspace of the cable driven parallel manipulator, and introduces its equivalent simplified solving method.This paper designs a large span cable driven parallel camera robot. In this robot, the cable driven parallel manipulator draws the moving platform to realize 3 translational DOF of camera, and the moving platform carries camera to realize its 2 rotational DOF. Considering the influence of gravity, the modeling method of large span cable is analyzes, based on which model of large span cable driven parallel manipulator designed in this paper is studied. The kinematics and statics modeling equations of large span cable driven parallel manipulator are worked out systematically, and the solving method is offered at the same time.Error analysis of model of large span cable driven parallel manipulator is fulfilled. According to the causes of error, this paper comes up with error compensation multinomial to correct the error of cable length to improve precision and speed of solution. At last, the simulations of modeling process are done to analyze modeling error and verify the effect of error compensation method.A kind of stabile moving platform applied to cable driven parallel camera robot is designed. This paper introduces the structure, components and function of this moving platform in detail. The mechanical model and mathematical model of moving platform are built, and the mathematical model is linearized. Based on the model of moving platform, the system performance is analyzed, and this paper comes up with two performance evaluation indexes, setup time and maximum overshoot. This paper optimizes performance evaluation indexes by adjusting relative parameters and gravity center of moving platform, to improve system performance. At last, the stabile moving platform is simulated to analyze its performance.