| This thesis is supported by Chinese National Natural Science Foundation,entitled by “Research on dynamic coupling characteristics,control methods and experiments of modularized reconfigurable equipment of cable-driven parallel robots with electrohydraulic hybrid-driven system”.In the process of moving of the modularized reconfigurable equipment of cable-driven parallel robots,the cable driven by sever motor may occur the deadlocking,vibration,fracture and so on.And it leads to that the kinematic accuracy of the end-effector is greatly decreased and the vibration is largely amplified in the experiment.In order to solve the problems,the oriented device of the electro-hydraulic mix-drive cable parallel robot was designed.And the 3D model,kinematic analysis,dynamic analysis,Adams simulation analysis of experiment platform and design of motion control detection system was accomplished.The main works achieved in this paper are as follows:1.This paper briefly summarized the mechanical structure of the electro-hydraulic mixdrive cable parallel robot.And the cable oriented device is described in detail.Through the optimization of the mechanical structure and innovative design on the oriented device.We proposed a scheme which can realize the dynamic guiding of the wire and the realtime detection of length,attitude,and internal tension of the wire.Immediately we designed the oriented device of the electro-hydraulic mix-drive cable parallel robot.Then we built the 3D model and finished the kinematics analysis of the mechanism.2.This paper completes the Adams dynamics model of the electro-hydraulic mix-drive cable parallel robot,load the data exported in MATLAB that allows the rope to flex or retract and allows the guide device ring movement,completed Adams dynamics simulation and compared the simulation trajectory with the initial obstacle avoidance trajectory,we analyzed the possible reasons for the comparison bias.In addition,we got the relationship between the tension of the rope and the movement of the end effectors.3.This paper mainly introduces the hardware and software configuration of the control detection system of the electro-hydraulic mix-drive cable parallel robot.Hardware was selected,which includes industrial computer,motion controller,data acquisition board,tension sensor,motor driver,servo motor.the design of the software Design of software consists of software design for controlling host computer,and design of sensor acquisition system.Development software of host computer was also selected.The aim is that using host computer to control motors through motion controller,and to collect all data of sensors through data acquisition board at the same time.4.Based on the obstacle avoidance experiment of the electro-hydraulic mix-drive cable parallel robot.the basic components of the electro-hydraulic mix-drive cable parallel robot are expounded.Then the experiment on multi-function oriented device was carried out for dynamic detection,analysis.For furthering exploration and verification,the mentioned experiment can be involved with length of cables,angle of oriented device,tension on cables,and comparison between tension sensor and strain gauge. |
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