DYNAMIC ANALYSIS FOR SINGLE-DOF OSCILLATION OF VEHICLE MODEL IN A 6-DOF WIRE-DRIVEN PARALLEL MANIPULATOR

A dynamical model based on Newton-Euler equations has been proposed in the paper to analyze the oscillatory motion of vehicle models in a 6-DOF (six-degrees-of-freedom) wire-driven parallel manipulator with 8 wires, which is used as a supporter of wind tunnel. The model is a highly coupled nonlinear system because of the adopted redundant constraints, as a result, the wire tension always has multi-solution and the dynamic analysis becomes very complicated. An optimization algorithm has been introduced. The simulation of the vehicle model oscillating in single degree of freedom has been carried out by MATLAB. The evolution of each wire tension has been presented when the vehicle model is in pitching oscillatory motion. The simulation results prove that the algorithm is applicable for searching the feasible solution of the wire tension and designing the prototype of wire-driven parallel manipulator.