| The rope contrafactive parallel robot has many advantages as a new parallel mechanism.It has the advantages of simple structure,strong reconfiguration,light weight,large working space and low cost,and its application field will be more extensive.The technology of rope traction parallel robot h as been greatly developed in this years,its application fields are also becoming more and more extensive.Traditional position control can no longer meet the control requirements of cable-driven parallel robots,when cable-driven parallel robots need to be in contact with the external environment.In order to solve this problem,this project researched and designed a kind of hybrid motion control algorithm for 6-DOF rope traction parallel robot and carried out the following work.Building a model of Cable-driven 6-DOF parallel robot.The geometric model of the robot is established on the basis of the six degree of freedom cable-driven parallel robot model,and the kinematics analysis and kinematics algorithm are carried out.This paper provides a research model for the design of the hybrid force-position control algorithm for a 6-DOF cable-driven parallel robot.Study the trajectory planning algorithm and hybrid force-position control algorithm of the robot,and the corresponding hybrid force-position control algorithm is designed according to the characteristics of the six degree of freedom rope traction parallel robot.Finally,the correctness and feasibility of the algorithm,model and scheme are verified by building a simulation experiment platform. |
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