6-6型绳牵引并联机器人的方位空间研究

Orientation Workspace Analysis of 6-6 Cable-actuated Parallel Manipulators

讨论了6-6型绳牵引并联机器人在实际应用和设计中的方位能力。该文通过绳牵引并联机器人的运动平台的力平衡分析,得到力和力矩平衡方程,将此力和力矩平衡方程写成矩阵形式,再应用克莱姆法则可以得出判断1个位形是否在运动空间中的方法。在此基础上,通过将1点的可能方位空间离散化,对每个离散点进行判断,就可以得到1点的方位空间。仿真结果表明:绳牵引并联机器人同杆支撑并联机器人相比其方位空间要小一些,运动平台半径和基础平台半径的比值越大方位空间越大,短边所对的圆心角越小方位空间越大。

The orientation capability of 6 -6 type cable-actuated parallel manipulators in both application and design is discussed. This paper develops an equilibrium equation of the force and the moment of the cable-actuated parallel manipulator＇ s platform through force analysis. This equilibrium equation of the force and the moment can be changed into matrix form. Applying Cramer＇ s Rule to this matrix, this paper gets a method to judge whether a pose falls within its workspace. By discretizing the possible orientation workspace of one point and using the judging method mentioned above, the orientation workspace of a point can be obtained. Simulation results using this algorithm show that： the orientation workspace of cable-actuated parallel manipulators are smaller than that of linkactuated parallel manipulator; the bigger the ratio of the radius of the platform to the radius of the base is, the larger the orientation workspace becomes; the smaller the central angle is, the larger the orientation workspace becomes.