Based on influence coefficient method trajectory planning of wire-driven parallel manipulator

The dynamic model of a 6-DOF Wire-driven parallel manipulator is established, based on influence coefficient method the wire-driven parallel manipulator trajectory planning algorithm is proposed, the orientation parameters by Euler angles of moving platform of time first-order and second-order derivative which are not a moving platform angular velocity and angular acceleration is verified. For the moving platform position and orientation workspace trajectory planning, the kinematic characteristics of wires are discussed. The simulation results show that the tension of the wires are always greater than 0, the expressions of velocity, acceleration and tension of wires are exceptionally clear and simple. Also, the proposed method for the trajectory planning is suitable for general 6-DOF wire-driven parallel manipulator.