六自由度绳牵引并联机构的可达工作空间分析

Controllable Workspace Analysis of a Six-DOF Wire-Driven Parallel Manipulator

提出一种由 7根绳牵引的六自由度并联机构 ,建立其数学模型 .对机构进行基于矢量封闭原理的可达工作空间分析 ,同时采用 Monte- Carlo技术在 Matlab环境下编程进行仿真 ,验证所采用分析方法的可行性 .仿真结果是可达工作空间的数值近似表示 ,可通过提高所提取的点数来提高显示精度 .

A six degrees of freedom(DOF) parallel kinematic manipulator driven by seven wires is presented. Its mathematical model is set up and its controllable workspace is analysed on the basis of the principle of vector closure. And then, the feasibility of the chosen analytical method is simulated and verified by adopting Monte Carlo technique for programming in the environment of MATLAB. The results of simulation are the approximately numerical representation of controllable workspace, of which the display accuracy can be increased by increasing the number of points extracted.