Dynamics Modeling And Simulation Of Six Cable Driven Parallel Robot

With the development of industrial technology,the traditional parallel robot has been unable to meet the requirements of production,therefore,the scientists put forward the cable-driven parallel robot.The cable-driven parallel robot has the advantages of light weight,large working space and good flexibility,So it has also been widely used.This paper focuses on the "FAST engineering space six cable drive feed space attitude control system model development" project,combined with MATLAB,ADAMS and other software to solve the soft cable cable force,to analyze the influence of gravity on the shape of the cable,and to establish the dynamic model of the robot.Finally,this model is simulated and analyzed.This paper mainly carries on the following research work:(1)Summarize the development process of the cable-driven parallel robot and the current research situation at China and abroad,expound the main structure of FAST,the theory of suspension cable and the static equilibrium equation of the feed compartment.(2)In this paper,the linear model and catenary model of the cable are studied and analyzed.Based on the ANSYS LINK180 unit,the static analysis of the cable is carried out to analyze the influence of the gravity of the cable on the shape of the cable.(3)Based on the catenary theory of the cable and the static balance equation of the feed compartment,the cable force solving program is written and the initial value,the actual value and the anchoring point coordinates of the cable force are calculated by MATLAB software.(4)In-depth study of the method of establishing the mathematical model of the catenary cable,the horizontal force of the cable force is solved by the six-cable driving parallel robot's cable force solving program,and it is substituted into the catenary equation of the cable.The cable model of each cable under the position of the cable,for the subsequent six cable drive parallel robot to lay the foundation for modeling.(5)Compare the catenary model and the straight line model of the cable to obtain the influence degree of the gravity on the deformation of the cable under the measured position.Finally,it is determined that the six-cable-driven parallel robot,The catenary model is more accurate than the linear model.(6)Based on the Bushing modeling method of ADAMS software,the parametric model of the cable is established,and the six-cable-driven parallel robot model with different pose is established.The simulation results are compared with those in MATLAB and the results of the comparison to verify the accuracy of the establishment of the model.(7)Summarize the typical pose of the six-cable-driven parallel robot,and establish the dynamic model of three typical pose,respectively,and carry on the simulation analysis of the five-cable condition for the dynamic model respectively.The simulation results show that pose WP1 under the five cable conditions are not dangerous,and pose WP1 and WP2 under the five cable conditions does not meet the technical requirements,there are security risks.