Active Compliance Control Of The Three Degrees Of Freedom Cable-driven Parallel Robot

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 simp lestructure,easy reconfiguration,light mechanism,large translat ional workspace,low cost and so on.In t his paper,it gives survey and summary about the cable-driven robot from domestic and abroad research.The three degrees of freedom cable-driven parallel robot is chosen as the object of research,studying the compliant motion control technology of t his kind of robot.According to the research data and the actual situation,the entity prototype of the three degrees of freedom cable-driven parallel robot is set.Based on the characterist ics of the prototype,the geometry model of three degrees of freedom cable-driven parallel robot is built and its kine matics ana lysis is done to get the model of the position kine matics.At the same time,due to the unilateral force transmiss ion characterist ic of the cable,the stiffness of cable is analyzed to get the model of the cable stiffness,which is convenient to compensate the cable defor med by force.In order to realize the compliant motion control of the prototype,the trajectory planning algorithm and the active compliant control scheme of the cable-driven paralle l robot are both studied in this paper.As the joint of the entity prototype,cable itse lf has certain compliance,so the active compliance control scheme of the prototype will be different.The structure matrix of the prototype is mainly used in this paper to design the control algorithm and scheme,which are suitable for the prototype structure features.Finally,the correctness and the feasibility of the algorithms,the models and the schemes are verified by experiment and software simulat on.