Simulation experiment platform and experiment method for motion of cord suspension parallel mechanism

Abstract

A simulation experiment platform and an experiment method for motion of cord suspension parallel mechanism, mainly comprise a machine frame, a suspension platform, wire ropes, directive wheels, rope devices, plates and a detection control system. The directive wheel is installed on the top of the machine frame. One end of each wire rope is enlaced on the rope device, and the other end is connected to the suspension platform rounding the directive platform. Rope devices are installed on the plates, and the plates are fixed on the plate brackets at the two sides of the machine frame. The detection control system comprises tension sensors, stay rectilinear transducers, rotary encoders, an attitude reference, a wireless data collection launcher, a wireless data receiver, a PLC controller, a transducer and an industrial personal computer. The experiment platform can simulate the suspension platform dynamic behavior and wire rope strain change event when process during the suspension platform centroid eccentricity and wire rope operation speed out of sync, and can examine the control performance of the controller when the designed suspension platform is in a steady operation. The experiment platform and the experiment method have a tight structure, a small space usage and a high automaticity.

Description

technical field [0001] The invention relates to a motion simulation experiment platform and an experimental method for a parallel mechanism suspended by ropes, and is especially suitable for simulating the operating state of a parallel mechanism suspended by four ropes when the driving speed of the ropes is not synchronized or the center of mass of the suspension platform is eccentric, so as to study the rope The kinematics and dynamic behavior of the suspended parallel mechanism and the control strategy for the smooth operation of the suspended platform. Background technique [0002] In the field of engineering applications, there is a wide range of parallel mechanisms in which a platform is suspended by four ropes, such as the suspension platform vehicle stabilization system for shaft construction, the suspension platform system for chimney construction, and the four-rope suspension system for valuable spacecraft in the aerospace field. Wait. The main function of the rope...

AI Technical Summary

Problems solved by technology

Since the four steel wire ropes are independently driven by four rope winding devices, the asynchronous rotation speed of the rope winding devices and the eccentricity of the center of mass of the suspended platform will cause the platform to tilt during the lifting process, and even a tipping accident may occur in severe cases

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