Integrated Mechanism Design and Control for Completely Restrained Hybrid-Driven Based Cable Parallel Manipulators

This paper deals with a methodology of simultaneous optimal design of mechanism and control for completely restrained hybrid-driven based cable parallel manipulators (HDCPM) in order to improve the dynamic performance of the HDCPM system. The HDCPM have the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism (HDPM). Kinematics and dynamics of the HDCPM are studied based on closed loop vector, geometric characteristic of mechanism and Lagrange method separately. Following that the integrated optimization model is established based on mechanics analysis and optimum control performance, and a genetic algorithm is used to carry out the optimization solution. As an example, separated optimization design and integrated optimization design for the completely restrained HDCPM with 3 Degrees of Freedom are comparatively investigated on the basis of the above design objectives. Simulation results illustrate that the dynamic performance of the HDCPM system can be significantly improved after integrated optimization design.