Research On Motion Control Of 3-DOF Cable Driven Parallel Robot

In recent years,with the rapid development of robot technology,Many new parallel robots have emerged,in which the cable drive parallel robot has a wide range of applications and important development value,increasingly being used in the industrial project?Combining with the development needs of the stage performance,this paper takes a 3 DOF cable drive parallel mechanism as the research object and The research focuses on the kinematics,dynamics,cable optimization,workspace,and design the control system of the mechanism.The main research contents are as follows:Taking the five-meter-scale 3 DOF cable drive parallel mechanism as the research object.The forward and reverse solutions of the kinematics of the mechanism were analyzed to solve the relationship between the change of the length of the rope and the position of the end actuator;high order polynomial interpolation is performed to improve the stability of the start and stop motion for the end actuator;The Newton-Eulerian method is used to derive the dynamic equilibrium equation,and the method for solving the cable force is given,which is not unique for the cable force solution.In order to solve the problem of cable force,the optimization problem of redundant cable force is studied by four different optimization methods.The algorithm of forward and reverse solution,start and stop track interpolation and cable force optimization is simulated by MATLAB,the simulation results verify the correctness and feasibility of the theoretical analysis.Then,according to the characteristics of the cable in the cable drive parallel mechanism,the definition of Force-closure work space and Feasible-wrench work space is discussed.A numerical solution method for the Feasible-wrench work space of the cable drive parallel mechanism based on the dimension reduction theory is proposed.The Feasible-wrench work space is solved in MATLAB by an example.Secondly,the control strategy and control algorithm are selected and analyzed respectively.A kinematic position control method with rigid body compensation and PID controller is proposed.The overall system plan is designed according to the control strategy,and the hardware composition and function are explained in detail.The function of the control system is modularized,the flow of the control system software is given,the motion control program is written in Simulink,the motion trajectory model library is established by Stateflow,and the motion control program is developed under the x PC real-time system.The design and development of the human-computer interaction interface was completed in the Lab VIEW environment,and the design of the control system software was completed.Finally,a model with a scale of 5 meters is built,and the system function and trajectory tracking performance experiments are carried out on the model object.The results verify the rationality of the designed control system.