Winding Reconfigurable Cable Parallel Robot Driving Mechanism Motion Analysis

According to the limited working space of ordinary hybrid driven cable parallel robot, the winding reconfigurable cable parallel robot(WRCPR) driving mechanism is designed with five-bar linkage as the carrier and the constant speed motor and servo motor as drive. The mathematical model of five-bar linkage driving mechanism is established, and the kinematics analysis is carried out. The trajectory of output point C in the five-bar linkage is planned to go along a complete circle. In addition, the numerical simulation of movement performance is done, and the results show that the structure of WRPR is reasonable, and the control system is convenient.(1)