• CN:11-2187/TH
  • ISSN:0577-6686

›› 2012, Vol. 48 ›› Issue (21): 1-7.

• 论文 •    下一篇

扫码分享

七索并联对接机构作业空间分析及索力优化设计

唐乐为;唐晓强;汪劲松;柴晓明   

  1. 清华大学精密仪器与机械学系;清华大学摩擦学国家重点实验室
  • 发布日期:2012-11-05

Workspace Analysis and Tension Optimization Design in Docking Parallel Mechanism Driven by Seven Cables

TANG Lewei;TANG Xiaoqiang;WANG Jinsong;CHAI Xiaoming   

  1. Department of Precision Instruments and Mechanology, Tsinghua University The State Key Laboratory of Tribology, Tsinghua University
  • Published:2012-11-05

摘要: 柔性索并联机构具有工作空间大、能耗低和惯量小等优点,适合于重载及长径比大的工件吊装对接。提出一种七索驱动的6自由度柔性并联对接机构。借助静力学方程推导出该七索柔性并联机构的结构矩阵,并根据结构矩阵的零空间,计算得到设计参数下的可控工作空间和可行工作空间。通过比较工作空间大小,确定出动平台铰接点角度、动平台半径和下拉索分布半径3个设计参数。以下拉索索力均匀为优化目标,计算出下拉索索力变化情况,并结合工作空间分析和索力变化特点,给出一组满足设计要求的尺度参数。

关键词: 对接机构, 工作空间, 索并联机构, 索力优化

Abstract: With the advantage of large workspace, low energy consumption and small inertia, a flexible cable parallel manipulator is suitable for heavy workpiece with great length-diameter ratio in hoisting and docking process. A flexible parallel docking mechanism with 6-DOF driven by cables is presented. The structure matrix of the flexible parallel manipulator is deduced by a statics equation. Based on the null space of the structure matrix, the controllable and the feasible workspace are achieved in given design parameters. Hinged angle, radius of moving plate and radius of pulling cables are selected by comparing the volume of the workspace. In order to uniform the cable tensions, the change of pulling cable tensions is calculated with different parameters. In addition, combined with workspace analysis and tension feature, the ultimate parameters are assured, which can satisfy the demand of design.

Key words: Cable parallel manipulator, Cable tension optimization, Docking mechanism, Workspace

中图分类号: