Model of a New Type Wire Driven Parallel Robot System

摘要

A new type parallel robot mechanism was proposed. The mechanism is driven by tightening flexible cable. Through analysis of kinematics and dynamics, working space, track programming and error, the model robot, the electromotor actuator and its control module were designed and made. A kind of language of robot was developed to control the model robot to finish appointed job. This new type robot is feasible and suitable for the light duty tool machines and other equipments. When the robot work at a speed within the range, it vibrates evidently and is noisy. In order to improve the performances of the robot, steps must be taken to decrease the vibration of the robot.