Simulation and Experiment of Wire Tensions for Wire-Driven Parallel Manipulator

Abstract:

For the multiple solutions of wire tensions to wire-driven parallel manipulator, the paper presents a wire tension optimization program based on the penalty function. After building a nonlinear programming model and simulating in MATLAB, the optimal solution of wire tensions under the minimal preload is calculated. Compared with the simulation results and experimental results, it shows that the wire tensions in experiment are relatively stable and the trends are overall consistent with the simulation results. The study lays a foundation for selecting the suitable preload for the wire-driven parallel manipulator.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 2779-2782
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.2779
• Online since: May 2013
• Authors: Yi Xin Chen, Sui Lu Yue, Qi Lin, Zhao Wang
• Keywords: Experiment, MATLAB Simulation, Optimal Design, Penalty Function, Wire Tension, Wire-Driven Parallel Manipulator

References

[1] Zhang Lixun, Liu Pan: submitted to Journal of Machine Design and Research (2008) (in Chinese)

[2] Liang Bin: System Analysis and Motion Control of a 6-DOF Wire-driven Parallel Manipulator with 3R3T type (Master degree thesis of Xiamen University, 2008) (in Chinese)

[3] Huang Qin: Dynamic Analysis and System Control of a 6-DOF Wire-driven Parallel Manipulator with 3R3T type (Master degree thesis of Xiamen University, 2010) (in Chinese)

[4] Shi Miaogen, Gu Lizhen, in: The foundation of science and engineering calculation, edtied by Tsinghua University Press, pp.276-299 (2004) (in Chinese)