System Analysis And Control Of A 3-DOF Wire-driven Parallel Manipulator With 1R2T Type On Upright Position

Wire-driven parallel manipulator is one of hotspots that have arisen these years in the world. It has so much value in many areas including aviation,military affairs,scientific research and so on. It also has potential appliance foreground in many fields. For example, robot of architecture,force feedback setting and touch setting of dummy practice,large motion emulator,large radio telescope,super high speed robot,light robot in super large workspace,aviation spaceflight,manufacture of large steamship and naval ships,mechanical process and so on.In the paper, 3-DOF wire-driven parallel manipulator with 1R2T type on upright position has been researched including manipulator design, theory analysis, dynamic simulation, constructing manipulator and motion control test.3-DOF wire-driven parallel manipulator with 1R2T type on upright position has been designed. The analyses have been carried out in the paper to the positive solution of position kinematics,inverse solution of position kinematics,positive solution of velocity kinematics,inverse solution of velocity kinematics,positive solution of acceleration kinematics and inverse solution of acceleration kinematics. The Moore-Penrose method was involved in the positive solution of position kinematics.The static and dynamic analyses have been applied in the 3-DOF wire-driven parallel manipulator with 1R2T type on upright position. The method of appointed force was adopted which is simple and general. The cable's tension has been simulated with the Simulink software. The controllable workspace of the end effector has been analyzed and its trace of ellipse has been designed. The simulation including the position, velocity, acceleration of the end effector and the length, velocity and acceleration of the cables. The result of simulation is reasonable and accord with the physical sense completely.The practical manipulator was built and motion control test was implemented according to both theory analysis and numerical simulation above.The mutual validation between the motion control test and the theory simulation indicates the research results in theory analysis obtained in the paper are scientific and feasible.The hardware manipulator and software program in this paper have prepared for the next research of 6-DOF wire-driven parallel manipulator which is more general and more complicated.