Six Degrees-of-Freedom (DOF) Wire-Driven Parallel Mechanism Co-Simulation Using ADAMS and MAT Lab

Abstract

The dynamic model of the 6 DOF Wire Driven Parallel Mechanism (WDPM) system is introduced. Based on MATLAB system, the 
simulation of the inverse dynamic model is achieved. According to the simulation result, the mechanical model for the WDPM system is 
reasonable. Using ADAMS system, the dynamic model of the virtual prototype is verified by the simulation analysis. The combined control 
model based on ADAMS/Simulink is derived. The WDPM control system is designed with MATLAB/Simulink. The torque control method is 
selected for the outer ring and the PD control method for the inner ring. Combined with the ADAMS control model and control law design, 
the interactive simulation analysis of the WDPM system is completed. According to the simulation results of the spatial circle tracking and 
line tracking at the end of the moving platform, the tracking error can be reduced by the designed control algorithm. The minimum tracking 
error is 0.2 mm to 0.3 mm. Therefore, the theoretical foundation for designing hardware systems of the WDPM control system is 
established.