Research On Key Technology Of Parallel Wire- Driven Swing Test System

With the constant development of science and technology,the industrial development is getting faster and faster,and people put forward higher requirements on the safety and reliability of products.In order to avoid accidents or damages caused by abnormal working conditions in the operation,simulation testing of real work condition should be carried out to reduce the accident rate before delivery.In this paper,the design of parallel wire-driven swing test system aims to simulate the two DOFs rotation of a construction shaft,gantry crane,marine ships,etc.under the influence of wind load or other factors,so as to provide reference for the actual production and design process.At present,most of the research on the swing table focuses on the rigid-driven parallel mechanism.With the development of the parallel flexible robot,the wire-driven parallel mechanism has attracted extensive attention in many engineering fields.This paper put forward a kind of parallel wire-driven swing test system.The design process of the swing table is introduced in detail.Finally,the prototype model of swing test system is built to verify the reliability and rationality of the design.Firstly,based on the structural forms and traction and driving mode of the swing table,considering the technical specifications,the simulation mode of the wire-driven swing was determined,and a parallel wire-driven swing table was designed.The motion characteristics of the swing platform are analyzed qualitatively,and the feasibility of the scheme is verified.The mechanical structure model of swing table is established and the static load bearing characteristics of the foundation frame of swing table are analyzed.The degrees of freedom and the under-constraint characteristics of the wiredriven swing platform are determined,which lays a foundation for the kinematics analysis of the system.Then,the kinematics characteristics of the swing test platform are deeply studied.The inverse kinematics model of the system is established,and the inverse solutions of position and velocity are analyzed.Due to the under-constraint characteristics of the system structure,the swing platform will generate position deviation during the motion process,which affects the simulation of swing working conditions.The forward kinematics model of swing platform is established according to the force helix balance and geometric constraint conditions.And the limit pose of the platform was analyzed under different experimental parameters when the displacement amplitude of motor sine drive was measured.Appropriate experimental parameters are selected to reduce platform position deviation and improve the simulation accuracy of swing platform.The Adams kinematics simulation model of swing platform is established to verify the correctness of the theoretical analysis.The coupling and motion control precision and motion control of the swing platform are analyzed,which lays a foundation for the motion control of the system.Finally,based on the mechanical structure of the parallel wire-driven swing platform,the prototype model of the parallel wire-driven swing test system is constructed.And the mechanical structure of the system and the software and hardware design of the control system are described in detail.The motion control strategy of the platform is proposed,and the experiments of the platform's inching and continuous oscillation are carried out.The results show that the designed system can meet the technical requirements and provide a reference for practical engineering application.