Aiming at the problem of the crane 6-DOF IRPMs flexible rope traction parallel mechanism rope characteristics and motion trajectory planning in the process of running

the kinematics model of 6-DOF parallel flexible rope traction parallel mechanism is established

by using the method of kinematics analysis

the flexible rope characteristic calculation method under the condition of meeting the most of the work space is put forward based on the theory of D’Alembert

and taking the space spiral track can be realized by the end moving platform of the parallel mechanism actuator as target

the motion planning is carried out.The results show that the process of moving platform lifting flexible rope length overall downward trend

the synthetic direction velocity

acceleration are always greater than the sum of flexible rope velocity

acceleration

due to the steady trend of the index value on the practical application of the system in line with the movement of the moving platform stability requirements.The moving platform lifting process on each direction and the direction of the overall synthetic displacement speed

acceleration show cyclical changes

due to the small changes still meet the stability requirements;in the process of lifting the movable platform

the flexible rope and the x

y

z direction relative to the angle is reduced

the system shows a relatively flexible rope force increasing trend.