摘要
针对6自由度绳索驱动并联机器人力封闭工作空间的现有求解方法计算效率较低这一问题,提出一种力封闭工作空间的快速求解方法。此方法通过计算结构矩阵零空间和解线性矩阵不等式来实现力封闭工作空间的求解,并且给出欠约束、完全约束和冗余约束三种不同情况下,6自由度绳索驱动并联机器人力封闭工作空间的计算过程。该算法在8根绳索驱动的6自由度并联机器人平台上进行仿真试验,仿真结果验证了所提出的力封闭工作空间求解方法的快速性。
An efficient computation method of the force-closure workspace is proposed to improve the solution efficiency of the existing methods for determining the force-closure workspace of 6-DOF cable-driven manipulators. The proposed method is realized by calculating the null space of the structure matrix and solving the linear matrix inequalities. The detailed calculation procedures of the force-closure workspace for the incompletely restrained, completely restrained and redundantly restrained 6-DOF cable-driven parallel manipulators are given respectively. The proposed method is implemented on the 6-DOF cable-driven parallel manipulator with eight cables, and the rapidity of the method is validated through simulation results.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2013年第15期34-41,共8页
Journal of Mechanical Engineering
基金
国家自然科学基金(50905172
51275500)
机器人技术与系统国家重点实验室开放研究基金(SKLRS-2011-MS-01)资助项目
关键词
绳索驱动
并联机器人
力封闭工作空间
矩阵零空间
线性矩阵不等式
Cable-driven Parallel manipulators Force-closure workspace Null space of matrix Linear matrix inequalities
