sequential control of wires of planar type Wire-Driven platforms in the gravity field

The goal of this study is to investigate the motion of wire-driven platforms (WDP) with sequential actuator. This paper begins with a study of inverse kinematics, Jacobian analysis, Singularity analysis and Static of WDP. The Coupler Point Curve method is proposed to solve the forward kinematics problem of planar type WDP in the gravity field. Then, changes in wires tension due to increased limited length are discussed along with a trajectory planning strategy of sequential actuates motor, including a straight line, circle and cubic spline curve. Finally, error analysis and numerical simulations are presented to further illustrate the feasibility of the proposed strategy. The results of this study are helpful for the motion controllers command generator of WDP.