空间力位加载及解耦测量的索驱并联机构模型

doi:10.3901/JME.260689

机械工程学报 ›› 2026, Vol. 62 ›› Issue (13): 41-54.doi: 10.3901/JME.260689

扫码分享

空间力位加载及解耦测量的索驱并联机构模型

刘家禧, 王智, 王德伦

大连理工大学机械工程学院大连 116024

收稿日期:2025-07-04 修回日期:2025-12-08 发布日期:2026-08-28
作者简介:刘家禧，男，1999年出生，博士研究生。主要研究方向为机构学及机械装备性能优化设计。E-mail：jx-liu@mail.dlut.edu.cn;王智(通信作者)，男，1986年出生，博士，副教授，博士研究生导师。主要研究方向为机构学及机器精度设计理论。E-mail：wangzhi@dlut.edu.cn;王德伦，男，1958年出生，博士，教授，博士研究生导师。主要研究方向为机构学及机械装备数字化设计方法。E-mail：delunwang@dlut.edu.cn
基金资助:
国家自然科学基金(52375008)和国家科技重大专项(J2019-Ⅴ-0011-0106)资助项目。

Modeling of a Cable-driven Parallel Mechanism for Spatial Force-position Loading and Decoupled Measurement

LIU Jiaxi, WANG Zhi, WANG Delun

School of Mechanical Engineering, Dalian University of Technology, Dalian 116024

Received:2025-07-04 Revised:2025-12-08 Published:2026-08-28

摘要/Abstract

摘要： 针对空间定矢量力精确加载及解耦测量困难的问题，建立索驱并联机构模型实现空间力位加载与快速、同步以及准确测量，提出基于力位耦合约束的机构位姿正解与标定方法。正解方法从原理上避免正解过程中绳索长度误差对结果的影响。基于全微分方法建立机构几何参数误差辨识模型，阐明机构结构参数误差与位姿误差的映射关系，实现机构结构参数误差可辨识，为模型修正与结构优化提供依据。并通过标定试验与算例验证提出方法与模型的正确性及有效性。经验证，索驱并联机构可实现空间定矢量力的精确加载及解耦测量，所提出方法可有效提升机构位姿精度与矢量力输出精度。研究内容可为索驱并联机构位姿正解及标定研究提供借鉴，为索驱并联机构在矢量力加载领域的拓展应用提供理论基础。

关键词: 索驱并联机构, 力位耦合, 运动学正解, 位姿标定, 矢量力

Abstract: To address the challenges of precise spatial constant-vector force loading and decoupled measurement, a cable-driven parallel mechanism model is established to realize spatial force-position loading with rapid, synchronous, and accurate measurement. A forward kinematic solution and calibration method based on force-position coupling constraints is proposed. The forward solution method theoretically eliminates the influence of cable length errors during the solution process. A geometric parameter error identification model is developed using the total differential method, clarifying the mapping relationship between structural parameter errors and pose errors of the mechanism, thereby enabling identifiable structural parameter errors to provide a foundation for model correction and structural optimization. The validity and effectiveness of the proposed method and model are verified through calibration experiments and numerical examples. Experimental results demonstrate that the cable-driven parallel mechanism achieves precise spatial constant-vector force loading and decoupled measurement. The proposed methods effectively improve pose accuracy and vector force output precision. This research offers methodological references for forward kinematic solutions and calibration studies of cable-driven parallel mechanisms, while providing a theoretical basis for their extended applications in vector force loading fields.

Key words: cable driven parallel mechanism, force-pose coupling, forward kinematics, pose calibration, vector force

中图分类号:

TG156

刘家禧, 王智, 王德伦. 空间力位加载及解耦测量的索驱并联机构模型[J]. 机械工程学报, 2026, 62(13): 41-54.

LIU Jiaxi, WANG Zhi, WANG Delun. Modeling of a Cable-driven Parallel Mechanism for Spatial Force-position Loading and Decoupled Measurement[J]. Journal of Mechanical Engineering, 2026, 62(13): 41-54.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260689

http://www.cjmenet.com.cn/CN/Y2026/V62/I13/41

参考文献

[1] 王海峰. 战斗机推力矢量关键技术及应用展望[J]. 航空学报，2020，41(6)：20-43. WANG Haifeng. Key technologies and future applications of thrust vectoring on fighter aircraft[J]. Acta Aeronautica et Astronautica Sinica，2020，41(6)：20-43.
[2] 田雨. 变力值比矢量力测试技术研究[D]. 大连：大连理工大学，2019. TIAN Yu. Study on vector force measurement technique with variable force ratio[D]. Dalian：Dalian University of Technology，2019.
[3] 王洪博，李程，曾吾，等. 矢量推力模拟加载及测试校准技术研究[J]. 计测技术，2015，35(S1)：83-85. WANG Hongbo，LI Cheng，ZENG Wu，et al. Research on vector thrust simulation loading and testing calibration technology[J]. Metrology & Measurement Technology，2015，35(S1)：83-85.
[4] 王煜天，丘嘉豪，吴军，等. 一种新型数控机床可靠性试验加载机构动力学评价方法[J]. 清华大学学报，2020，60(12)：1023-1029. WANG Yutian，QIU Jiahao，WU Jun，et al. A new dynamic evaluation method for reliability test loading mechanism of CNC machine tools[J]. Journal of Tsinghua University，2020，60(12)：1023-1029.
[5] 尤传存. 矢量力测试装置标定用变角度空间力源研究[D]. 大连：大连理工大学，2020. YOU Chuancun. Research on variable angle space force source for calibration of vector force testing device[D]. Dalian：Dalian University of Technology，2020.
[6] 王渊. 索驱式空间六维力加载与测量机构研究[D]. 大连：大连理工大学，2023. WANG Yuan. Research on the loading and measuring mechanism of six-dimensional force in cable-driven space[D]. Dalian：Dalian University of Technology，2023.
[7] VERHOEVEN R. Analysis of the workspace of tendon based Stewart platforms[D]. Duisburg，Germany：Gerhard Mercator University，2004.
[8] 郑亚青. 绳牵引并联机构若干关键理论问题及其在风洞支撑系统中的应用研究[D]. 厦门：华侨大学，2004. ZHENG Yaqing，Key theoretical issues of rope traction parallel mechanism and its application research in wind tunnel support system[D]. Xiamen：Huaqiao University，2004.
[9] KAWAMURA S，KINO H，WON C. High-speed manipulation by using parallel wire-driven robots[J]. Robotica，2000，18：13-21.
[10] 王伟方. 冗余驱动索并联机构矢量力输出特性研究[D]. 北京：清华大学，2016. WANG Weifang. Research on vector force output characteristics of redundant drive cable parallel mechanism[D]. Beijing：Tsinghua University，2016.
[11] 曹凌，唐晓强，王伟方. 基于定矢量力输出的八索并联机构索力优化及实验研究[J]. 机器人，2015，37(6)：641-647. CAO Ling，TANG Xiaoqiang，WANG Weifang. Optimization and experimental study of cable force for eight cable parallel mechanism based on fixed vector force output[J]. Robot，2015，37(6)：641-647.
[12] ZHANG Z，XIE G，SHAO Z，et al. Kinematic calibration of cable-driven parallel robots considering the pulley kinematics[J]. Mechanism And Machine Theory，2022，169：104648.
[13] PATY T，BINAUD N，CARO S，et al. Cable-driven parallel robot modelling considering pulley kinematics and cable elasticity[J]. Mechanism And Machine Theory，2021，159：104263.
[14] BASKAR A，PLECNIK M，HAUENSTEIN J D，et al. A numerical continuation approach using monodromy to solve the forward kinematics of cable-driven parallel robots with sagging cables[J]. Mechanism And Machine Theory，2024，195：105609.
[15] 杜敬利，段宝岩，保宏. 索牵引并联机器人静态平衡位置的正解研究[J]. 计算力学学报，2010，27(5)：850-855. DU Jingli，DUAN Baoyan，BAO Hong. Research on the positive solution of static balance position of cable traction parallel robot[J]. Chinese Journal of Computational Mechanics，2010，27(5)：850-855.
[16] 丁文. 索牵引并联机器人的运动学分析及其标定[D]. 西安：西安电子科技大学，2014. DING Wen. Motion analysis and calibration of cable-driven parallel robot[D]. Xi’an：Xidian University，2014.
[17] CHAWLA I，PATHAK P M，NOTASH L，et al. Inverse and forward kineto-static solution of a large-scale cable-driven parallel robot using neural networks[J]. Mechanism And Machine Theory，2023，179：105107.
[18] IDA E，MERLET J，CARRICATO M. Automatic self-calibration of suspended under-actuated cable-driven parallel robot using incremental measurements[J]. Cable-driven Parallel Robots，2019，74：333-344.
[19] NGUYEN V L，CAVERLY R J. Cable-driven parallel robot pose estimation using extended Kalman filtering with inertial payload measurements[J]. IEEE Robotics and Automation Letters，2021，6(2)：3615-3622.
[20] LIU Z，QIN Z，GAO H，et al. Initial-pose self-calibration for redundant cable-driven parallel robot using force sensors under hybrid joint-space control[J]. IEEE Robotics and Automation Letters，2023，8(3)：1367-1374.
[21] ZHANG F，SHANG W，LI G，et al. Calibration of geometric parameters and error compensation of non for cable-driven robots[J]. Mechatronics，2021，77：1.
[22] 王伟方，唐晓强，邵珠峰. 八索立式储罐并联机器人设计及性能优化[J]. 机械工程学报，2016，52(9)：1-8. WANG Weifang，TANG Xiaoqiang，SHAO Zhufeng. Design and analysis of a wire-dirven parallel mechanism for large vertical storage tank[J]. Journal of Mechanical Engineering，2016，52(9)：1-8.
[23] 于金山，李潇，陶建国，等. 面向在轨装配的八索并联机构构型设计与工作空间分析[J]. 机械工程学报，2021，57(21)：1-10. YU Jinshan，LI Xiao，TAO Jianguo，et al. Configuration design and workspace analysis of parallel mechanism driven by eight cables for on-orbit assembly[J]. Journal of Mechanical Engineering，2021，57(21)：1-10.

空间力位加载及解耦测量的索驱并联机构模型

Modeling of a Cable-driven Parallel Mechanism for Spatial Force-position Loading and Decoupled Measurement

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

编辑推荐

Metrics

本文评价

[1]	胡波, 张达, 高俊林, 耿雪雯, 叶妮佳, 姚建涛, 易旺民. 基于共形几何代数求解(4SPS+SPR)+(2RPS+SPR)串并联机构位置正解[J]. 机械工程学报, 2021, 57(13): 102-113.
[2]	刘艳梨, 程世利, 蒋素荣, 杨小龙, 李耀, 吴洪涛. 带位移传感器的6-UPS并联机构运动学正解[J]. 机械工程学报, 2018, 54(5): 1-7.
[3]	韩旺, 段学超, 仇原鹰, 段宝岩. 基于线驱动并联机构的FAST馈源平台位姿测量方法[J]. 机械工程学报, 2017, 53(17): 43-49.
[4]	方喜峰;赵若愚;吴洪涛;缪群华;汪通悦;刘远伟. 6-UPS交叉杆型并联机床的运动学正解算法[J]. , 2012, 48(13): 56-60.
[5]	黄昔光;廖启征;魏世民;李端玲. 一般6-6型平台并联机构位置正解代数消元法[J]. , 2009, 45(1): 56-61.
[6]	张辉;王启明;叶佩青;汪劲松. 通用Stewart平台运动学正向数值求解方法及应用[J]. , 2002, 38(增刊): 108-112.