Experimental studies of a suspended point cable parallel robot

Abstract

A prototype of a suspended point cable parallel robot with a control interface and three translational degrees of freedom was designed and manufactured. The prototype of a point cable parallel robot consists of a metal frame in the shape of a rectangular parallelepiped; winches with servo motors are located near the base of each vertical post, designed for winding (or winding) cables. The other ends of the cables passing through the pulleys are connected to the working body. The direction of rotation, as well as the rotation speed of winches with servomotors, are set by a control unit that has three translational degrees of freedom. Four force sensors were used to determine the tension in the cables of the suspended point cable parallel robot. The force sensors are connected to the ZET 058 strain gauge measuring system, which, together with the ZETLAB TENZO software, allows you to collect information in real time through four channels simultaneously. Experimental studies of a prototype of a suspended point-cable parallel robot were carried out by drawing a circle trajectory with an end-effector. It has been established that the deviation of the trajectory from an ideal circle occurs as a result of tension fluctuations in the cables. Experimental graphs of the tension in the cables were obtained using force sensors connected to the ZET 058 strain gauge measuring system. It was established that in order to increase the accuracy of the operation of the suspended point cable parallel robot, constant monitoring of the tension of its cables is necessary.