Abstract
The dynamic model of the 6 DOF Wire Driven Parallel Mechanism (WDPM) system is introduced. Based on MATLAB system, the simulation of the inverse dynamic model is achieved. According to the simulation result, the mechanical model for the WDPM system is reasonable. Using ADAMS system, the dynamic model of the virtual prototype is verified by the simulation analysis. The combined control model based on ADAMS/Simulink is derived. The WDPM control system is designed with MATLAB/Simulink. The torque control method is selected for the outer ring and the PD control method for the inner ring. Combined with the ADAMS control model and control law design, the interactive simulation analysis of the WDPM system is completed. According to the simulation results of the spatial circle tracking and line tracking at the end of the moving platform, the tracking error can be reduced by the designed control algorithm. The minimum tracking error is 0.2 mm to 0.3 mm. Therefore, the theoretical foundation for designing hardware systems of the WDPM control system is established.
Highlights
Wire Driven Parallel Mechanism (WDPM) utilizes flexible wire instead of connecting rod as the traction element which make it quite different from the normal parallel mechanism
Because WDPM system is quite complicated to control with the tension force as control object, select classical control theory to proceed with the control design of outer ring
The dynamic model and the control model of the WDPM system avoid the uncertainty of many parameters, errors and disturbances, there are no such systems without external interference
Summary
WDPM utilizes flexible wire instead of connecting rod as the traction element which make it quite different from the normal parallel mechanism. As the flexible wire can only bear unidirectional loads, the performance of Wire Driven Parallel Mechanism (WDPM) is important for actual application. More and more research works have been done by the researchers of many countries [1,2,3,4]. WDPM is widely used in engineering fields recently, such as machining, tracking of the large spherical radio telescope, wind tunnel testing of airplane etc. Research on the WDPM has significant value on academic research and engineering application
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