189 / 2016-12-20 23:52:51

Research on Anti-Swing Characteristic of Redundancy Cable-driven Parallel Robot

6-DOF wave compensation; cable-driven parallel robot; anti-swing workspace; inverse kinematics

In order to compensate 6-DOF relative motion between the ship and large size or weight containers in replenishment operation at sea, a 6-DOF active wave compensation cable-drive parallel robot with anti-swing was designed. It could compensate the 6-DOF motion of cargo and maintain the cargo balance in replenishment operation. The structure and working principle of the cable-drive parallel robot was introduced. The kinematics and dynamics model was established. Swing inhibition principle of the robot was elaborated. The relationship between the robot size and anti-swing workspace was revealed. At last, the simulation study of anti-swing workspace was realized.