摘要
A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF planar platform was established based on slippery course and bearing, and dSPACE real-time control system was used to perform the platform's motion control experiment on robot. Based on the kinematic equation and mechanical balance equation of moving platform, the stiffness of the robot system was analyzed and the calibration scheme of the system considering wire tension was put forward. Position servo control experiments were carried out, position servo tracking precision was analyzed, and real-time wire tension was detected. The results show that the moving error of the moving platform tracking is small (the maximum difference is about 3%), and the rotation error is large (the maximum difference is about 12%). The wire tension has wave properties (the wire tension fluctuation is about 10 N).
A three-DOF （degree of freedom） planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF planar platform was established based on slippery course and bearing, and dSPACE real-time control system was used to perform the platform＇s motion control experiment on robot. Based on the kinematic equation and mechanical balance equation of moving platform, the stiffness of the robot system was analyzed and the calibration scheme of the system considering wire tension was put forward. Position servo control experiments were carried out, position servo tracking precision was analyzed, and real-time wire tension was detected. The results show that the moving error of the moving platform tracking is small （the maximum difference is about 3%）, and the rotation error is large （the maximum difference is about 12%）. The wire tension has wave properties （the wire tension fluctuation is about 10 N）.
基金
Project(20102304120007) supported by the Research Fund for the Doctoral Program of Higher Education of China
Project(QC2010009)supported by the Natural Science Foundation of Heilongjiang Province, China
Projects(20110491030, LBH-Z10219) supported by China Postdoctoral Science Foundation
Project(HEUCF120706) supported by the Fundamental Research Funds for the Central Universities of China
