EXPERIMENTAL RESEARCH OF HYSTERESIS EFFECT OF WIRE AND ITS INFLUENCE ON WIRE-DRIVEN PARALLEL SUSPENSION MECHANISM

Due to the advantages of structural simplicity, large workspace and low inertia, wire-driven parallel suspension mechanism is widely used. An experimental study is carried out on the hysteresis effect of a suspension wire. Firstly, the mathematical model of hysteresis curve in a Wire-driven Parallel Robot (WDPR) is analyzed and the corresponding parameters of the model are identified through experimental data. Secondly, the influencing factors of hysteresis phenomenon are discussed through hysteresis experiments under different conditions. Then the influence of hysteresis effect on pose and aerodynamic parameter calculation of the model is analyzed. Finally, the magnitude of the influence is analyzed based on the parameters of a WDPR prototype. The results exhibit the influence of hysteresis effect on both the pose and aerodynamic parameter calculation through wire tensions, and the material of wire is also one of the factors that cannot be ignored in relation to the hysteresis. Furthermore, the influence of hysteresis effect, dominantly determined by the level of preload, can be ignored when the preload increases to a certain extent.