关键词: 工作空间, 构型, 柔索驱动机构, 优化

Abstract: Workspace is an essential index of parallel mechanism. Compared to parallel mechanisms actuated by rigid limbs, cable-driven parallel mechanisms have larger workspace as an outstanding merit. The relationship between the workspace and the position where the cables are anchored on the moving platform is discussed. The static model of cable-driven parallel mechanism is set up and the constant workspace of 3-DOF planar mechanism driven by 4 cables is analyzed. After that, the parameters of the cables anchoring on the moving platform are modeled, and the parameters are optimized to realize the biggest constant orientation workspace. The optimized parameters of the planar mechanism have larger workspace than the conventional plane configuration.

Key words: Cable-driven mechanism, Configuration, Optimization, Workspace