两自由度绳牵引并联机构

A Wire-Driven Parallel Mechanism with Two Degrees of Freedom

对两自由度绳牵引并联机构作系统研究 ,进行运动学、静力学和动力学的分析 .设计出控制系统 ,并在Simulink下完成系统仿真 .提出求运动学正解的新算法 ,可以显著减小系统误差 ;抽出新的拉力分布方法并利用绳牵引并联机构的拉力应满足的条件 ,建立一个线性规划的标准模型 .用单纯形法可以方便地求出绳的拉力 ,并确保满足绳拉力大于零的条件 ,且拉力的分布更加合理 .

With respect to a wire-driven parallel mechanism with two degrees of freedom, the authors make a systematic study and carry out kinematic, static and dynamic analysis. A control system is designed and the system is simulated under Simulink. A new algorithm is proposed for kinematic positive solution, by which the system error can be significantly reduced. A new method of tension distribution is explored; and the standard model of linear programming is established by using the conditions with which the tension of the wire-driven parallel mechanism should be met. By using simplex method, the wire tension can be easily solved and can be ensured to meet the conditions that it is above zero and its distribution is even more reasonable. The correctness of the algorithms mentioned above is verified by results of simulation.