Research On Key Technology Of Planar Cable-driven Parallel Robot Motion Control

Cable-driven parallel robot is a new type of parallel robot, which is driven by cables instead of rigid links. There are many advantages about the robot such as simple structure, easy reconfiguration, light mechanism, large translational workspace, lower cost of manufacture and so on. In recent years, cable-driven parallel mechanism, that attracts much more attention at home and aboard. Nowadays, it is widely used in large radio telescope, aircraft wind tunnel support system, assembly robot, crane robot, biomimetic rehabilitation robot and so on.In this paper, it gives survey and summary about the cable-driven robot from domestic and abroad research. The planner cable-driven mechanism is chosen as an object of research, studying the motion control key technology of robot. Establishing the model of planner cable-driven parallel robot and analyzing the robots' kinematics. According to the problem of cable tension solving and optimal tension distribution in parallel cable-driven robot, From the analysis of the planar cable-drive mechanism statics model, the paper gets the statics balance equation; combined with characteristics of the cable and operation requirements of the robot, the cable tension constraint is obtained; Based on the linear programming theory, ne norm tension distribution method and new tension distribution method are researched, the equation of two tension distribution optimization algorithm is received. According to trajectory planning algorithm of parallel cable-driven robot, This paper applies the s-typed velocity planning algorithm to accomplish planning of the line trajectory and circular-arc.Accomplishing the simulation of the kinematics analysis, the tension optimal distribution algorithm and trajectory planning method in MATLAB2014, the feasibility and effectiveness of the algorithms can be verified.