| Cable-driven parallel mechanism has several advantages such as large workspace,fast response and low cost,which leads its unique advantages in many special conditions.6-DOF 8-cable-driven parallel mechanism is researched in this paper.The work includes kinetics modeling,workspace analysis,experimental platform setting up,motion control program writing and the test of the system.The main work of this paper is as below.(1)Defined the coordinate system and attitude angle interested Eulerian coordinate system.Described the related experimental platform coordinate transformation according to coordinate transformation theory.Deduced the kinematics model of the experimental platform,and laid a theoretical foundation for more precise motion control.(2)The calculation methods are expounded of the cable-driven parallel mechanism.The simulation analysis of the cube configuration cable-driven mechanism is carried out.The main factors which affected the workspace most is pointed out.And the optimizing design method is conducted.(3)The cable-driven parallel mechanism experimental platform was set up,including the design,set up and the test of the mechanical system and the servo system.Also the control system is developed in order to control the motion of the platform and the data collection.(4)A serious of tests was conducted on the experimental platform.Some basic motion tests were done to have an overall test of the ability of the experimental platform.And then some verification tests of the workspace were conducted to prove the validity of the theory.These tests show a good result for both the theory and the experiment.Based on this research,the motion control and the workspace analysis were conducted based on the 6-DOF eight-cable-driven parallel mechanism experimental platform.Also a good foundation is laid as the subject of further study. |
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