Planar Cable Direct Driven Robot: Hardware Implementation

摘要

The planar cable-direct-driven-robot was designed, constructed, simulated and controlled in this thesis.A new design of cross cable configuration was implemented.The kinematics, statics and dynamics modeling of the proposed design were derived.The static workspace was determined for the new design.Only the translational CDDR whose end-effector may be fitted with a traditional serial wrist mechanism to provide rotational freedom was considered in this thesis.The robot was simulated using Simulink and Matlab software.The hardware of the cable-direct-driven-robot was designed and constructed.The hardware was interfaced with the computer.Wincon software and Quanser control boards were used for real time implementation.The inverse kinematics of the robot was implemented for generating linear and circular trajectory in real time control.The independent cable length PD controller was implemented for the Cartesian coordinated control.The repeatability of the CDDR was evaluated.