Static stiffness of a plane wire-driven parallel robot

In this paper,the static stiffness of the wire-driven 1R2T parallel robot was analyzed theoretically,and simulation research was carried out.To obtain the theoretical model of wire-driven mechanisms,a balance equation of static spiral forces was built,and the static stiffness expression was derived by the method of differential transformation.After that,it was found that the factors affecting the static stiffness were the stiffness of the wires and the coupling forces on them.The robot model was built by ANSYS.Several schemes of laying wires and the forces on them were designed to analyze their influence on the stiffness.The equivalent static stiffness increased with the increase of the minimum force on the wires,and hardly changed after the minimum force reached the definite degree.The results in this paper provide guidance for analyzing the position accuracy and motion control of a wire-driven system.