Simulation and Experiment of Wire Tensions for Wire-Driven Parallel Manipulator

For the multiple solutions of wire tensions to wire-driven parallel manipulator, the paper presents a wire tension optimization program based on the penalty function. After building a nonlinear programming model and simulating in MATLAB, the optimal solution of wire tensions under the minimal preload is calculated. Compared with the simulation results and experimental results, it shows that the wire tensions in experiment are relatively stable and the trends are overall consistent with the simulation results. The study lays a foundation for selecting the suitable preload for the wire-driven parallel manipulator.