Optimization for wire tensions in wire-driven parallel manipulators

In the paper, an optimum proposal of wire tensions based on the penalty function is given and a nonlinear mathematical model of wire tensions is established. By use of the penalty function algorithm, the constrained optimization problem of wire tensions will be transformed into unconstrained optimization problem. Two cases which are different minimum preloads at zero attitude position and the same minimum preload at different attitude positions are given to analyse the algorithm. The simulation results show that the curves of wire tensions are relatively smooth. There is no changed impact, and the values of the maximum tensions obtained are also realistic.