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绳牵引并联机构中绳索张力解的实时性研究

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摘要 针对冗余约束绳牵引并联机构绳索张力多解的问题,考虑绳索张力的上下限,基于牛顿欧拉方程和凸优化理论建立绳索张力优化分配的模型,利用非迭代的算法确定绳索张力解。并给出数值仿真案例,对比本文算法和传统优化算法的实时性。为绳牵引并联机构的实时力控制奠定基础。
作者 李家旺
出处 《山东工业技术》 2019年第9期7-8,共2页 Journal of Shandong Industrial Technology
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