自适应绳索驱动并联机器人构型优化设计研究

Research on Configuration Optimization Design of Adaptive Rope Driven Parallel Robot

不同绳索驱动并联机器人的构型设计将产生不同的工作空间和灵活特性。提出一种自适应绳索驱动并联机器人结构模型,该结构模型可以在不增加运动冗余的情况下,通过绳索缠绕修改末端执行器的粘接点,提出的机器人可以被动重构为多种构型。基于重构条件,提出自适应原理,建立自适应绳索驱动并联机器人的运动学模型和静力平衡模型。通过定义工作空间和灵活性指标,对自适应粘接点进行比例优化。结果表明这种设计具有更大的工作空间和更好的灵活性。

The configuration design of parallel robots driven by different cables will generate different workspace and flexible characteristics.An adaptive cable driven parallel robot structural model was proposed.The structure model can modify the adhesive points of the end effector through cable winding without increasing motion redundancy.The proposed robot can be passively reconstructed into multiple configurations.Based on the reconstruction conditions,the adaptive principle was proposed,and the kinematics model and static balance model of the adaptive cable driven parallel robot were established.The workspace and flexibility index were defined,and the proportion of adaptive bonding points was optimized.The results indicate that this design has a larger workspace and better flexibility.