摘要
对一种4索并联机构进行了运动学分析,考虑4索驱动的冗余性、缆索承力的单向性,对其正向运动学问题进行了求解。首先考虑被控体重力的影响,对实际承载状态进行了分类处理,即分为单索承载、双索承载、三索承载;然后针对每种承载类型,采取"假设—计算、验证—判断、取舍"的方法,获得可能的正解。验证的依据是缆索只能提供拉力,不能提供推力,即不能受压。基于该方法开发了一套4索并联机构运动控制仿真软件,运行结果表明,该方法可有效解决4索并联机构的运动控制问题。
The forward kinematics problem was researched for a four-cable parallel mechanism, considering the driving redundancy and the unidirectional characteristic of force loaded on a cable. Loading modes for the four-cable parallel mechanism were classified into single-cable loading, double-cable loading and three-cable loading. Possible forward kinematics solutions were obtained by assuming, calculating, validating and judging under each loading mode. All solutions were validated on the rule that a cable can only generate pull. a control and simulation software was developed for the four-cable parallel mechanism based on the above method. The running result shows that the method proposed in this paper can solve the motion control problem effectively.
出处
《机械设计与研究》
CSCD
北大核心
2011年第6期13-15,20,共4页
Machine Design And Research
基金
淮阴工学院科研基金资助项目(HGC1016)
关键词
并联机构
柔索
运动学
parallel mechanism
flexible cable
forward kinematics
