Analysis and simulation of a cable-driven hybrid manipulator

摘要

This paper deals with the mathematical analysis and simulation of a cable-driven hybrid manipulator (CDHM) with six degrees of freedom. The CDHM is a hybrid manipulator which contains a serial part and a parallel part. The rigid link of parallel part has been replaced by driving cables, for decreasing moving mass of manipulator. With a reasonable simplification on virtual model of the CDHM, forward kinematic analysis is done. Then inverse kinematic analysis and dynamic analysis with parallel part of the CDHM are proceeded, in order to study on motion stability of the CDHM further. Based on theoretical data of analysis above, related simulation is carried out. The result verifies correctness of mathematical modelling and rationality of simplification on virtual model. It is concluded that the proposed CDHM has good performance on kinematic accuracy, rapidity and workspace, while it also can be competent at high-speed working occasions.