新型并联式绳索牵引叶片起吊机构运动学分析

Analysis on kinematics of new parallel rope-towing blade lifting mechanism

提出一种具有承载能力高、体积约束小和易于调整叶片姿态的新型并联式绳索牵引叶片起吊机构,并对其进行了运动学分析。首先建立机构的几何模型,运用欧拉角描述动平台姿态,提出应用并行投影迭代算法推导机构运动学正解,最终采用MATLAB软件进行数值仿真验证。结果表明了应用并行投影迭代算法求解机构运动学正解的正确性,同时证明了该机构能够实现吊装任务。

In this article,a new type of parallel rope-towing blade lifting mechanism is proposed which is characterized by high bearing capacity and small volume constraint and easy to adjust blade attitude,and the analysis is carried out on its kinematics.First,the geometric model of this mechanism is set up;Euler Angle is used to describe the attitude of the moving platform;the parallel projection iterative algorithm is worked out,so as to derive the kinematic positive solution of this mechanism.Finally,numerical simulation is conducted with the help of the MATLAB software.These results show that the parallel projection-iteration algorithm is correct in solving the forward solution of kinematics for this mechanism.It also proves that thanks to this mechanism,the lifting task can be realized.