Design Of The Cradle Head And Study Of The Control For The Cable-Driven Camera Robot

The Cable-Driven Parallel Robots have been widely researched and applied because of its fast response, large movement space, high control accuracy, The Cable-Driven Camera Robot applied in the field of photography is even more a subversion of the traditional way of shooting, brings a whole new visual feast to people. The technology of the Cable-Driven Camera Robot abroad has been very mature, it can be found at almost any kind of sporting event, film sets and concerts and so on place everywhere. However, there's some distance between the domestic research, the application of its commercial applications and the reality. The thesis is to provide further reference for its actual shoot by designing a gyro self-stable cradle to carry the camera and designing an improved control system and a control scheme of the camera robot on the base of current technology research.Firstly, A gyro self-stable cradle is designed for carrying a camera. It is the most important and basic requirement to keep the frame stable while the camera robot filming, but because it quickly starts and stops, the cable force inequality and other factors, it is easy to cause the camera robot swaying which leads to the unstable image while shooting. In order to effectively solve the problems about the camera robot swaying, the gyro self-stable cradle is used to insulate carrier turbulence for keeping the stability of camera robot.Secondly, The kinematics and kinetic models about the Cable-Driven Camera Robot are analyzed. The speed governing equations derived from the kinematic equation provides principles for controlling motion of the camera robot. The safety flight space provides a mathematical model for the visualization of 3D flight space which solved through the study of cable force solution.Finally, The control system is analyzed, studied and improved for the camera robot. The motion control system for the Cable-Driven Camera Robot is completed by the soft PLC system-Bechoff's Twin CAT, which is designed to control the telescopic of cable. The virtual presentation system which is designed and developed on the base of C# language and the combination of WPF, Pro/E, MATLAB with Expression Blend software accomplishes the functions of the virtual camera and the 3D visualization of flying space. On the Android platform, the design and development of an application software are completed for a virtual control handle which is used to wirelessly control the velocity and direction of the camera robot. Establishing the communication among the motion control system, the virtual presentation system and the virtual control handle, the improved control system implements the control of camera robot.