Research On Configuration Design Of Parallel Wire Suspended Robots Carrying High Load

Parallel wire robots have been applied to more and more situations because of its characteristic of lower inertia,higher carrying capacity and bigger workspace.Configur ation design is the very beginning and most important procedure of the design of rob ots.The level of configuration design determines the using property of the robot direc tly.Parallel wire robots which used in the situations of carrying high load raise a high er claim to configuration design.Hence the objective of this thesis is to research the p roblem of configuration design of the parallel wire robots which is used in the situati ons of carrying high load automatically.The situations of carrying high load automatically has the effect on its configurati on design of the workspace and precision of the robots.Therefore this thesis will try to establish the mathematical model between the configuration parameters and the wor kspace and operating precision.After that this thesis will calculate the satisfying confi guration parameters with optimization algorithm.The main content of this thesis is fol lowing:1.Put forward several parameters to describe the configuration of parallel wire ro bots by making some proper simplification,ignoring some minor factors and grasping t he main points.2.Establish the mathematical model between the location and posture of working platform and the location of the tangency point of the wire and the pulley.In this re search project,the parallel wire robot has to carry high load,hence we have to choose the wires with bigger diameter.But this results in the pulleys with bigger diameter be cause of avoiding generating too high stress in wires which are twining around the pu lleys.3.Establish the mathematical model between the configuration parameters and the workspace as well as the operation precision by making statics analysis,workspace a nalysis and kinematics analysis to the mechanism as well as calculating some data an d making polynomial fittings with MATLAB.4.Obtain a set of satisfying configuration parameters by using the algorithm of i mproved nondominated sorting in genetic algorithms(NSGA2).