Modular Design And System Development Of Integrated Cabledriven Parallel Robot

The cable-driven parallel robot is widely used in film and television shooting,material handling,rehabilitation and medical treatment due to its simple driving chain,large working range and quick response.The traditional cable-driven parallel machines are arranged separately from the main body frame of the robot,and the driving unit,control unit,sensor and power supply of the robot are all fixed on the robot frame.This paper proposes a will drive unit,control unit,sensor,power source such as integration,design a new type of cable drive parallel robot make cable in larger displacement parallel robot under the scope of work of emergency move fast,work possible,broke the robot frame to cable in large working space of parallel robot under the limit of industrial applications.In order to realize the requirement of easy movement and rapid recombination,the idea of integration and modularization is put forward.Based on this,a hung parallel robot with 6-DOF multi-cable drive is designed and two generations of prototype are iterated.In the robot prototype,each cable retracting and retracting unit is modularized,and the number and layout of modules can be changed to meet the requirements of different working range and working ability.For the joint module design,a friction wheel driving method is proposed,which improves the cable driving ability and can realize self-locking by friction force after power is cut off.Kinematics,statics and calibration models are established.In order to improve the precision of kinematics model,geometric model and cable deformation model considering the influence of cable guide pulley radius and cable radius are established.At the same time,in order to meet the requirement of anchor seat precision by frequent recombination of cable-driven parallel robot,the calibration algorithm based on dipmeter and force sensor was studied,and the proposed calibration algorithm was verified.Impedance control and visual servo frame based on position are designed for a new parallel cable-driven robot,and a perfect motion control system is developed,including the realization of hardware circuit and control scheme of upper computer.An integrated cable-driven parallel robot system was developed,and joint module performance test,calibration algorithm and typical motion control experiment were successively carried out.The effectiveness of the developed robot system and the proposed method was verified,and a simple robot operation scheme was provided based on Apriltag code.