关键词: 动态性能, 混合驱动柔索并联机器人, 集成设计, 优化模型

Abstract: Hybrid-driven-based cable parallel manipulators (HDCPM) are the electromechanical integrated system whose dynamic performance is determined by structure system and control system together. In order to improve the dynamic performance of the HDCPM system, integrated optimization design of structure system and control system of the HDCPM is carried out based on the coupling relationship of structure system and control system of the HDCPM. Structure and movement of the HDCPM system are depicted. Kinematics of the HDCPM is analyzed by principle of closed loop vector and geometric characteristic of mechanism, and dynamic formulation is established on the basis of Lagrange equation. Design variables, constraints equations, and objective function of the optimization problem are discussed, and integrated optimization model of the HDCPM system is presented. As an example, separated optimization design and integrated optimization design for the HDCPM are comparatively studied through numerical simulation. Simulation results illustrate that integrated design can get better dynamic performance for the HDCPM system.

Key words: Dynamic performance, Hybrid-driven-based cable parallel manipulator, Integrated design, Optimization model