Design and control of cable-drive parallel robot with 6-dof active wave compensation

摘要

In order to compensate 6-dof relative motion between the ship and large size or weight containers in replenishment operation at sea, a cable-drive parallel robot with 6-dof active wave compensation was designed. The robot is composed of platform, cables, drivers and sensors etc. It could compensate the 6-dof motion of cargo in replenishment operation. The structure and wave compensation principle of the robot was introduced. The kinematics and dynamics model was established. A sliding mode control method based on exponential approach law was propose to control the robot. Finally, the control method was studied by simulation.