Study on Time-varying Wires Structure in Wire-driven Parallel Manipulators
In the paper, the concept of time-varying wires structure is proposed to avoid interference between wires and a mobile platform in a wire-driven parallel suspension system. A mathematical model, a kinematic notation model and a calculation model for interference between wires and the mobile platform have been built for it. When the mobile platform moves at a single degree of freedom pitch rotation, the motion equations of relevant hinge are deduced. The simulation results demonstrate that interference can be avoided in the wire-driven parallel manipulators with time-varying wires structure, and the workspace of the mobile platform may be enlarged. But different motions chosen for the hinge correspond to distinguishable sizes of workspace of the wiredriven parallel manipulators with time-varying wires structure. Therefore, according to the requirements to avoid interference, the motion of the hinge can be designed.
Wire-driven parallel manipulator Time-varying wires structure Interference Workspace
YUE Suilu LIN Qi LIU Rubing WANG Zhao CHEN Yixin
Department of Aeronautics, Xiamen University Xiamen 361005, China
国际会议
大连
英文
987-991
2011-10-19（万方平台首次上网日期，不代表论文的发表时间）