| This thesis was supported by Chinese National Natural Science Foundation, entitled by “Research on dynamic performance analysis and coordinated control technology of large heavy-duty special cooperative cable parallel equipment for mobile cranes”. For electro-hydraulic mix-drive cable parallel motion platform(EH-CPMP), this paper researched on three-dimensional modeling, kinematics analysis, virtual prototype simulation analysis, motion control system, safety monitoring system, and the experimental. The main work accomplished in this paper is summarized as follows:(1) The three-dimensional model of EH-CPMP was built by CREO 3.0. Compared with traditional parallel wire driven robot, the characteristics of EH-CPMP are electro-hydraulic mix-drive mode, reconfigurable modular and adjustable tower height. In this paper we mainly consider the motion of six wires. The EH-CPMP model was simplified as one type of parallel mechanism with six motors working together, and kinematics analysis is carried out on the simplified model. The solving method of verse and inverse kinematics were proved by MATLAB simulation. Compared with desired trajectory, the feasibility of forward displacement steepest descent method is validated.(2) The virtual prototype simulation analysis of the simplified model was carried out. Based on reasonable assumption, its dynamic model was established. Through solving straight line trace and curve trace of the dynamic model, we can see that a certain fluctuation and deviation are existed compared with desired trajectory due to its flexible and elastic structure and self-weight.(3) The motion control system’s hardware and software of EH-CPMP were designed respectively. The hardware design is mainly some selection of system hardware, including servo motor and its driver, motion controller, industrial personal computer and the power. The software mainly contains upper computer software developed by LABVIEW. By controlling motion controller the upper computer software further control six cable motors working together and make the end-actuator walk corresponding motion track. Experimental study shows that: the motion control system designed in this paper basically meet the requirements of motion control, and there exist some errors in motion control.(4) The safety monitoring system’s hardware and software of EH-CPMP were designed respectively. The hardware structure aspect mainly includes sensor selection and circuit board manufacturing. The software structure aspect mainly includes three big functional modules: infrared obstacle avoidance module, inertial sensor module and real-time location information module. The keystones are the principle of each module and the design of upper and lower computers. Experimental study shows that: the safety monitoring system designed in this paper basically meet the requirements of safety monitoring. |
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