Optimized Design Of A 6-DOF Cable-driven Parallel Robot

In the average case,the average maintenance cycle time of passenger aircraft is 5 years.Considering about the frequent mergers of aviation business and other factors,the painting maintenance period could be shorter in normal.In view of the fact that the current aircraft fade-painting industry is mainly labor-intensive,the parallel cable technology is applied to the aircraft fade-painting industry to obtain an automatic fade-painting motion platform with cable-driven for aircraft which has low labor cost,high efficiency and good safety performance.The main research content is as follows:Considered about the requirement about the degree of freedom(DOF)and the factor of reducing interference,a 6-6 Incomplete Restrained Positioning Mechanism(IRPM6-3T3R)was selected as the research object.The kinematic position inverse solution,forward position solution and velocity inverse solution of the mechanism are analyzed,and the correctness of the numerical solution of the positive solution is verified.The static model of the mechanism is solved based on the force balance of the end effector,and the force Jacobian matrix which is the generalized inverse matrix of the Jacobian matrix can be obtained.This lays the mathematical foundation for the later mechanism optimization and stiffness analysis.The workspace of the Cable-Driven Parallel Robot was studied.Based on the numerical method of workspace,a more convenient calculation method of orthogonal complement is proposed.In the solution of the workspace,the constraints of the force constraint and the interference constraint were both taken into account.Additionally,the three methods of solving the interference(the cables themselves,the cable and the end-effector,and the effector and the basic platform) were detailed derived.On the basis of the working space volume,MATLAB simulation was carried out to test the transmission performance and anti-jamming performance of Incomplete Restrained Positioning Robot in force and motion.The influence of changes in the configuration,size,and orientation of the organization on the evaluation indicators was analyzed.Review and summarize the performances in all aspects,the design variable value can be optimized and how the shape of the working space varies can be achieved at the same time.Through studying the static stiffness of the mechanism,the factors which affect the active stiffness and passive stiffness were achieved.Since the overall stiffness of the mechanism is mainly affected by the passive stiffness,thus,the influence of the passive stiffness on the configuration,size,and posture change of the end effector was analyzed.The resultant verified that better overall stiffness of the mechanism can be maintained by the optimized configuration and dimensions.