The high-precision operation of the end-effectors of cable-driven parallel robots requires the guidance of accurate kinematic models.However,traditional kinematic models of cable-driven parallel robots neglect the influence of pulleys on the poses of the end-effectors,resulting in low precision and poor stability.By coupling the kinematics of pulleys,an extended kinematic model was proposed to minimize the influence caused by the pulleys on the kinematic inverse solutions during movements.A series of simulations of the extended kinematic model were carried out on the platform of a 6-degree-of-freedom cable-driven parallel robot constrained by 8 cables,and the control errors of the end-effector with different pulley radius were investigated.The results indicate that the errors of the cable length variation,the attitude angle,and the displacement of the extended kinematics model decrease by 2.0%,3.6%and 2.2%,respectively.The introduction of the pulley model effectively improves the motion stability of cable-driven parallel robots,which further promotes the development of high-precision control of the end-effectors.
国家科技期刊平台
NSTL
万方数据
维普
