To solve the level-adjusting and force-tuning problems of high accurate and costly payloads when loading and unloading, the auto-leveling robot is needed. Under the support of the national 863 Program“Development of a Four-cable-driven Auto-leveling device for Leveling Adjustment”, a cable-driven auto-leveling robot is developed based on the analysis of merits and drawbacks of current adjusting methods and mechanisms. Also, in this dissertation, control problems of level-adjusting and force-tuning of the cable-driven auto-leveling robot are studied extensively. These problems are challengeable and meaningful in both theory and application aspects. In detail, the content of this research includes the following six parts: Firstly, devices for leveling adjustment, as well as their control problems are introduced. The status of the control problem of leveling adjustment systems is comprehensively surveyed. And, background and main work of this dissertation are given. Secondly, after introducing the current manual leveling adjustment systems, general structure of the robot is proposed, Meanwhile, the problems of modeling, control strategy and controller design are analyzed. Thirdly, according to the design philosophy and practical application, a cable-driven auto-leveling prototype system is developed. Such cable-driven auto-leveling prototype system can be used as the manual and automatic control platforms. Fourthly, after analyzing and summarizing the challenging characteristics of pulling forces and angles in the adjusting process, a synthetic strategy is proposed to realize the leveling adjustment under the assumption that the balance of the pulling forces is firstly satisfied. Experimental results demonstrate the steady performance of the system and the effectiveness of the synthetic strategy, and show that the synthetic strategy can meet the precision requirements in practical applications. Fifthly, to realize the synchronous control of the level-adjusting and the force-tuning, a hierarchical fuzzy controller, which has the ability to deal with the rule explosion problem, is proposed. The hierarchical fuzzy controller contains two layers – the low level layer which is used for leveling adjustment and force tuning, and the high level layer which is used to coordinate the two outputs from the low level layer. And experimental results demonstrate the feasibility of the method.
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