Design and Control Analysis of Cable Parallel Robot Simulator

Section: 
Scientific Project
Associate: 
A. Nasr
S.A.A. Moosavian
Place: 
Department of Mechanical Engineering
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)
Date: 
Friday, 2016, January 22

Since cable parallel robots benefited from the large workspace and, at the same time, minor contact surface, is the 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 the decision which is these robots are ready to use in wind tunnel or not.

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

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

Finally, different control algorithm which is 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 analyzed.

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

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