Study on Time-Varying Wires Structure in Wire-Driven Parallel Manipulators

Sui Lu Yue; Qi Lin; Ru Bing Liu; Zhao Wang; Yi Xin Chen

doi:10.4028/www.scientific.net/AMM.148-149.987

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 148-149Study on Time-Varying Wires Structure in...

Study on Time-Varying Wires Structure in Wire-Driven Parallel Manipulators

Abstract:

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 wire-driven parallel manipulators with time-varying wires structure. Therefore, according to the requirements to avoid interference, the motion of the hinge can be designed.

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Periodical:

Applied Mechanics and Materials (Volumes 148-149)

Pages:

987-991

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.148-149.987

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Online since:

December 2011

Authors:

Sui Lu Yue, Qi Lin, Ru Bing Liu, Zhao Wang, Yi Xin Chen

Keywords:

Interference, Time-Varying Wires Structure, Wire-Driven Parallel Manipulator, Workspace

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References

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