Design and Control Analysis of Cable Parallel Robot Simulator

Section: 
Research
Subsection: 
Scientific Project
Place: 
Department of Mechanical Engineering
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)
Associate: 
A. Nasr
S.A.A. Moosavian
Date: 
2016/01/22 to 2016/09/21

Since cable parallel robots benefited from large workspace and, at the same time, minor contact surface, are best candidate for simulation maneuver of airplane and aircraft model in wind tunnel. Thus, this robot studied for this propose and check different control algorithm loops to make decision which is these robots are ready to use in wind tunnel or not.

Firstly, in the first step, kinematic issue like inverse kinematic math, forward kinematic guess, velocity, acceleration and jacobian mathematical relation derived. Later, dynamics model, which is essential in analysing control loop, derived and verified by Simulink model. Actually, SimMechanic used to simulate cables in Matlab.

Secondly, structural design of constraint parallel robot according to stiffness, sensitivity, singularity, workspace volume analysis optimized by genetic algorithm. Thus, this robot structure is appropriate for analysing different control loops.

Finally, different control algorithm which are divided in two linear and nonlinear, implemented and coded in Matlab software. Indeed, PD Partial, Feed-Forward, Modern, Feedback Linearization, Robust and Adaptive Control for Simulation Maneuvers in Present of Noise and Disturbance are analysed.

Task:

  • Inverse Kinematic, Dynamic Modelling and Preparing SimMechanics Validation of Spatial 8 Cable-Driven Parallel Robot
  • Design of Cable Structure Attachment Optimized by Genetic Algorithm 
  • Mechanical Modelling Winch, Frame and Platform by considering Kinematic and Dynamic Model
  • Simulation PD Partial, Feed-Forward, Modern, Feedback Linearization, Robust and Adaptive Control for Simulation Maneuvers in Present of Noise and Disturbance