Motion Control Technology Of 6-DOF Cable-driven Parallel Robot

A set of motion simulation equipment is developed using cable-driven parallel robot technology to provide necessary environmental test conditions for ground verification of aircraft.Parallel robots have the advantages of high load,low inertia,and high mobility,and are widely used in various industrial scene.In order to accurately describe the relationship between the posture of the load platform and the rope length,kinematics modeling is carried out.First,the inverse kinematics solution is analyzed in detail,and then the forward kinematics solution is analyzed.In order to improve the accuracy of kinematics modeling,a rope model considering the pulley is established,and the corresponding kinematics analysis is carried out.The problem of solving the feasible workspace of the load platform is studied.The common way of hinged is simulated and analyzed to determine the optimal way of hinged.The Monte-Carlo method is used for detailed simulation analysis of the common posture of the load platform.In order to realize the practical application of the cable-driven parallel robot,a 6-degree-of-freedom cable-driven parallel robot experimental platform is built.First,the system scheme is designed.Then the frame of the motion platform is designed,and various hardware devices used are introduced.Finally,the motion control program is written and debugged on the industrial computer development platform.In the uniaxial force control,the model of the rope equivalent to multi-section spring with mass is studied,and the corresponding controller is designed for the identified model.Due to the driving redundancy of the 6-degree-of-freedom 8-rope cable-driven parallel robot,there are multiple solutions for the cable force distribution.The simplex calculation method is used to obtain the optimal solution based on the minimum sum of the cable force.In the overall posture control mode,the cable force is optimized,the function of rope length compensation is designed,and the motion control algorithm is designed.On the experimental platform,experiments are carried out on the uniaxial position mode,the uniaxial force mode and the overall posture control mode,and the experimental results are analyzed.The correctness and feasibility of the platform development plan and control algorithm are verified by the experiment.