Based on influence coefficient method trajectory planning of wire-driven parallel manipulator

Author

Wang, Xuanyao ; Cao, Yi ; Zhou, Hui

Author_Institution

Sch. of Mech. Eng., Anhui Univ. of Sci. & Technol., Huainan, China

Volume

9

fYear

2010

fDate

22-24 Oct. 2010

Abstract

The dynamic model of a 6-DOF Wire-driven parallel manipulator is established, based on influence coefficient method the wire-driven parallel manipulator trajectory planning algorithm is proposed, the orientation parameters by Euler angles of moving platform of time first-order and second-order derivative which are not a moving platform angular velocity and angular acceleration is verified. For the moving platform position and orientation workspace trajectory planning, the kinematic characteristics of wires are discussed. The simulation results show that the tension of the wires are always greater than 0, the expressions of velocity, acceleration and tension of wires are exceptionally clear and simple. Also, the proposed method for the trajectory planning is suitable for general 6-DOF wire-driven parallel manipulator.

Keywords

acceleration control; angular velocity control; manipulator dynamics; manipulator kinematics; path planning; wires; 6-DOF wire driven parallel manipulator; angular acceleration; angular velocity; influence coefficient method; manipulator dynamics; trajectory planning algorithm; wire tension; Acceleration; Manipulator dynamics; Mathematical model; Planning; Trajectory; Wires; influence coefficient method; parallel manipulator; trajectory planning; wire-driven;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Application and System Modeling (ICCASM), 2010 International Conference on

Conference_Location

Taiyuan

Print_ISBN

978-1-4244-7235-2

Electronic_ISBN

978-1-4244-7237-6

Type

conf

DOI

10.1109/ICCASM.2010.5623226

Filename

5623226