Research On The Control Technique Of Fully Constrained Cable-driven Parallel Mechanism For Catamaran Salvage

Since China's strategy of "a maritime power",China's maritime activities have increased.At the same time as the increase in maritime activities,the number of maritime rescue missions is also increasing year by year.The traditional method of salvage has a large limitation on the cost and applicable conditions,and the artificial salvage behavior cannot always be avoided,which poses a great threat to the life safety of the salvage personnel.Based on the above background,this paper proposes a salvage device based on the cable-driven parallel mechanism.The cable-driven parallel mechanism has excellent characteristics such as light weight,heavy load,fast speed and large workspace.In recent years,it has been gradually concerned by scholars all over the world.This paper combines the cable-driven parallel mechanism and the marine salvage,and proposes a cable-driven parallel sea rescue mechanism applied on the catamaran,aiming at reducing the cost of marine salvage and improving the efficiency of marine salvage.The paper first analyzes the current situation of marine salvage,summarizes the advantages and disadvantages of existing marine salvage measures,and proposes a preliminary model of cable-driven rescue mechanism.By searching the research on the cable-driven parallel mechanism at home and abroad,the research status of the cable-driven parallel mechanism is mastered,and the theory is analyzed.In addition,the problems and shortcomings in this aspect are summarized,which lays a foundation for the subsequent research.Secondly,on the basis of theoretical analysis,combined with the structure of the catamaran,the preliminary design of the cable-driven parallel mechanism applied on the catamaran is carried out,and the kinematics and dynamics mod el are pushed to the position correction control of the mechanism.See the correctness of the model.Through the determination of the tension that the motor and the cable can withstand,the force distribution theory is proposed to control the cable tension of the mechanism.Based on the theory,the working space of the mechanism is analyzed,and the workspace under different loads and different postures is compared.The calculation method of stiffness is proposed,the evaluation index of mechanism stiffness is proposed,and the method of mechanism stiffness is proposed.Then,through the theoretical analysis of the parallel mechanism,the design and construction of the experimental physical prototype was carried out.The structural model of the upper platform is proposed,and the hoisting mechanism,the pulley steering mechanism,the regular rope-winding mechanism,etc.are designed,and the measuring components such as sensors and encoders are selected.In addition,the overall control model of the experimen tal system is also proposed.Finally,according to the theoretical analysis and the experimental physical prototype of the cable-driven parallel rescue mechanism,the theoretical analysis and simulation are comprehensively verified by experiments.