绳牵引并联机构拉力分布的优化研究

Research on Optimal Tension Distributing of Wire-driven Parallel Robot of Actuation Redundancy

从理论上解决了应用于飞行器风洞试验的绳牵引并联机构拉力分布的优化问题。由于绳只能承受拉力,因此机构的运动控制必须实时计算各绳的拉力。以往学者将绳拉力的优化归结为一个线性规划问题并采用迭代法进行求解,而迭代法不仅计算速度慢,且无确定的优化解。为此,建立了基于影响系数的协调方程和能量最优解析方程,使拉力分布的最优解呈显式表示。

In this paper,the problem is theoretically solved of optimal tension distributing of wire-driven parallel robot of actuation redundancy for aircraft wind tunnels.Because wires can only sustain tension,real time calculation of wire tension is necessary.In the past,to obtain the optimal tension solution,the problem was regarded as a linear programming one,and solved by the iteration which has disadvantages such as lack of uniqueness of termination rules,slow calculation and multiple optimal solutions.Thus,based on effect coefficient harmonic resolution and energy optimal resolution equation,the optimal tension solution the optimal tension solution of tension distributing is showed by very simple expression.