关键词: 动态分析, 混合驱动, 机构设计, 柔索并联机器人

Abstract: In order to accomplish the high efficiency, heavy load, high-performance motion output of the cable parallel mechanism, a new-type hybrid-driven-based cable parallel mechanism (HDCPM), which can perform the planned trajectory tracking motion by means of hybrid-driven planar five-bar parallel mechanism, is designed according to theories of mechanism structure synthesis for parallel robot, and the virtual prototype model of the mechanism is created. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The 3-DOF mechanism is studied as an example to verify the validity of the method, and the simulation results are presented. The theoretical analysis and case study show that the mechanism design is reasonable and mathematical models are correct, which provide the theoretical basis for physics prototype and control system design.

Key words: Cable parallel mechanism, Dynamic analysis, Hybrid-driven, Mechanism design