摘要
以考虑悬索质量下的二自由度悬索并联机器人为研究对象,建立了基于悬链线方程的二自由度悬索并联机器人运动静力学模型,提出了一种求取数值正逆解的方法。该方法以忽略悬索质量的运动学正逆解为初值,通过数值迭代方法获得悬索质量不可忽略时的运动静力学正逆解。大量的仿真验证显示了该方法能够快速、准确地获得二自由度悬索并联机器人的唯一正逆解,并且给出了该悬索平台在平衡状态下包含悬链线曲线的二自由度悬索并联机器人机构简图。
A two-degree-of-freedom cable-suspended parallel robot with non-negligible cable mass was studied in this paper.The kinetostatics model of the two-dof cable-suspended parallel robot(CSPR)was established based on the catenary equation.A method was then proposed to calculate the numerical inverse and forward displacement solutions. Using solutions with negligible cable mass as the initial values,the forward and inverse kinestostatics solutions with non-negligible cable mass were obtained through numerical iterations. A large number ofsimulations verified that this approach could reach the unique solution of the two-dof CSPR fast and accurately.Finally the mechanism diagrams of the two-dof CSPR containing the catenary curves in equilibrium states are plotted.
作者
任凭
朱聪斌
REN Ping;ZHU Cong-bin(School of Engineering,Ocean University of China,Shandong Qingdao266100,China)
出处
《机械设计与制造》
北大核心
2020年第5期241-244,共4页
Machinery Design & Manufacture
基金
国家自然科学基金项目—水下柔索悬吊并联运动平台的设计理论与控制方法研究(51409237)。
关键词
悬索并联机器人
悬链线
运动静力学
正逆位移分析
Cable-Suspended Parallel Robot
Catenary
Kinetostatics
Forward AndInverse Displacement Analysis
