立面1R2T三自由度绳牵引并联机构的位姿运动学分析

Position Kinematic Analysis of a 3-DOF Wire-driven Parallel Manipulator with 1R2T Type on Upright Position

给出所设计的立面1R2T三自由度绳牵引并联机构的模型;在该模型的竖直平面上对末端执行器进行了详尽的位姿运动学分析,提出了封闭矢量四边形法则在求解所有的不规则几何图形的位姿运动学逆解时都适用的观点.文中运用力矩平衡法确定其质心位置的方法;又根据封闭矢量四边形法则,建立了运动学位姿逆解模型,利用Moore-Penrose逆求解运动学位姿正解;最后在所规划的椭圆轨迹下,采用Simulink仿真软件进行了末端执行器的运动轨迹和绳长变化规律的仿真.研究表明:在所规划椭圆轨迹下,所有绳长的变化是连续的;位姿运动学正逆解相互验证表明所采用的算法是正确且通用的.

A kind of 3-DOF wire-driven parallel manipulator with 1R2T type was presented. Position kinematics analysis was given on upright position according to this manipulator. First of all,a viewpoint that the rule of vector quadrangle was applicable in all abnormity was mentioned. Then, the method of moment equity solving the centroid position was presented. The inverse kinematical position model was set up with the method of vector quadrangle. The Moore-Penrose method was involved in the solution to positive kinematical position. At last,in the trace of ellipse designed, simulation results including both the place of end effector＇s centroid and length variety of cables were presented. The investigation indicated that length variety of cables was continuous and mutual validation indicated the method adopted was accurate and universal.