摘要
绳牵引并联机器人的工作空间是进行绳牵引并联机器人设计中需要考虑的重要因素。通常绳牵引并联机构的实际工作空间很不规则,而在实际应用中往往更关心的是机构的规则工作空间。本文从绳牵引并联机器人的运动平台的力平衡分析出发,得到力和力矩平衡方程,将此力和力矩平衡方程写成矩阵形式,对矩阵形式的平衡方程应用克莱姆法则可以判断一点是否在运动空间中,在此基础上,给出规则空间计算的目标函数和约束条件,采用随机搜索算法进行寻优,获得给定机构的规则工作空间。
The actual workspace of a cable-driven parallel manipulator is irregular, but in practice, we are more concerned with the size of its regular workspace. In this paper, the force and moment balance equations are derived from the force equilibrium of a moving platform. This equilibrium equation of the force and the moment can be changed into a matrix form, then Cramer＇s rule is used to judge whether a pose falls within the workspace. The object function and constraint can be obtained, then using the random search algorithm and the method for judging whether a pose falls within the workspace, the maximum regular workspace of a six degrees of freedom cable-driven parallel manipulator can be calculated.
出处
《机械科学与技术》
CSCD
北大核心
2009年第1期133-135,140,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
上海市教委项目(06FZ004)资助
关键词
绳牵引并联机器人
规则空间
cable-driven parallel manipulator
regular workspace
