绳驱动万向关节的绑线机构优化

Optimization of tying mechanism for rope-driven universal joints

目的:以绳驱动万向关节的绑线机构为基础,研究二自由度球关节式绑线机构参数对驱动绳绳长以及运动同步性的影响。方法:采用三维软件建立绑线机构数学模型,使用Matlab软件对数学模型进行驱动绳绳长的数值分析,通过数值分析结果对数学模型进行修改并再次进行数值分析。结果:在驱动圆盘半径R与绑线球半径r的比值为0.928时同组驱动绳绳长差值的极值与原模型相比减少30%以上。结论:优化后模型同组驱动绳绳长差值明显减小,运动的同步性得到了提升,达到了优化绑线机构的目的。

Objective:Based on the rope-driven universal joint lashing mechanism,the study was carried out to investigate the influence of the parameters of the two-degree-of-freedom ball joint lashing mechanism on the length of the driving rope and the synchronization of the motion.Methods:3D software is used to establish the mathematical model of wire binding mechanism,the mathematical model was analyzed numerically using Matlab software for the length of the drive rope,and finally,the mathematical model was modified and analyzed numerically again by the results of the numerical analysis.Result:The extreme value of the difference is less than the original model by 30%when the ratio of the radius R of the driving disc and the radius r of the tying ball is 0.928.Conclusion:The optimized model has significantly reduced the difference in the length of the same group of driving ropes,and the synchronization of the motion has been improved to optimize the tying mechanism.