Reconfigurable Research On Cable Drive Support System Of 3D Printer

The Reconfigirable Cable-Driven Parallel Robot(RCDPRs)is a kind of parallel robots that reconfigure the distribution of the cable by changing tlhe position of the cable or other components.It is a new type of flexible robot evolved from Cable-Driven Parallel Robots(CDPRs).Compared vwith the traditional CDPRs,RCDPRs have better and higher performances,such as:avoiding collision between cable and environment,expanding working space,increasing the system's stiffness,enhancing payload capacity,and reducing cable tension,etc.The subject of this paper is an RCDPR with eight flexible ropes arnd six degrees of freedom.The main work of this paper includes the configuration design of RCDPRs,the nonlinear static analysis of the system,the parametric modeling and analysis of the system,the reconfigurable algorithm and the experimental scheme of the control system.The research work provides theoretical basis and teclnical support for the system implementation of RCDPRs,and has important theoretical and practical significance for the engineering application of extended CDPRs.The specific research contents ancd conclusions are summarized as follows:Inspired by the idea of the reconfigurable modular realization system of mechanical structures,the corresponding configuration of the RCDPRs was designed based on the Modular Realization System of Mechanical Structure.Besides,the catenary model of the cable was constructed and the nonlinear static analysis and solution of the RCDPRs system was completed.The above research works laid a analytical foundation for the finite element parametric modeling of the R CDPRs system.The finite element parametric model of RCDPRs was established by combining the simulation of MATLAB and ANSYS.Based on this parametric model,the static equilibrium state of RCDPRs was analyzed.The results show that the maximum deformation of the system is 10-6m,which proves that the nonlinear static analysis and solution model of RCDPRs is correct.Based on the finite element parametric model of RCDPRs,the modal analysis of RCDPRs was completed.The analysis results provide optimized performance indicators for the reconfigurable algorithms of RCDPRs.The Dijkstra shortest path algorithm pertain to the graph theory was used to realize the reconfigurability of the Z direction of the system,which means the exit point in the Z direction does not remain constant.Six cost functions were given and the optimal reconstruction path of the system was realized by the reconfigurable optimization algorithm.Besides,the case of the optimal reconstruction path of the system considering only the total number of reconstructions or the attitude error of the moving platform was analyzed.The results show that the attitude error of the moving platform is reduced by nearly 18%when considering the attitude error of the moving platform,and the feasibility of the reconfigurable optimization algorithm is verified.Based on the B&R PCC and Ethernet PowerLink,the control system scheme of RCDPRs was developed.The design of software and hardware of the open CNC system using the industrial PC and GMC motion control card as the core was completed.The B&R's industrial PC2100 series industrial computer,the ACOPOS micro drive system and touch screen panel were used for the design of the hardware;the modularized Automation Studio software platform was used for development of the software;The corresponding software development tools and environment were configured according to the hardware selected by the system and the relevant initialization parameters were defined.