一种可缠绕混合驱动柔索并联机构可视化分析与仿真

Visual Analysis and Simulation of a Windable Hybrid-driven-based Cable Parallel Mechanism

针对常规混合驱动柔索并联机构不能缠绕且工作空间较小的问题,提出了一种可缠绕混合驱动柔索并联机构。首先,确定了此并联机构的虚拟样机结构;然后,对结构的动力学进行了整体分析,基于拉格朗日方程,建立了系统动力学模型;最后,结合具体实例,利用Simulink软件对机构的工作情况进行仿真。结果表明,可缠绕柔索并联机构设计合理,输入参量可以根据系统要求实时变化,并且能够得到足够大的工作空间,为可缠绕混合驱动柔索并联机构的进一步物理样机研究提供了理论依据。

According to the fact that conventional hybrid - driven - based cable parallel mechanism cannot twine the cable and which of workspace is limited, a windable hybrid - driven - based cable parallel mechanism is put for- ward. Firstly, the fictitious prototype structure of parallel mechanism system is determined. Then, the dynamics analy- sis of cable parallel mechanism is carried out and the system dynamics model is set up based on the Lagrange equation. Finally, the numerical simulation of the windable hybrid - driven - based cable parallel mechanism is demonstrated as an example, and the simulation results indicate that the mechanism design is reasonable and the input parameters can be changed timely. The workplace of windable hybrid - driven - based cable parallel mechanism is large enough, which provide the theoretical basis for physics prototype design.