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绳驱动并联机器人张力约束工作空间分析

陈伟海 杨洋溢 吴星明 陈泉柱

陈伟海, 杨洋溢, 吴星明, 等 . 绳驱动并联机器人张力约束工作空间分析[J]. 北京航空航天大学学报, 2011, 37(7): 817-821.
引用本文: 陈伟海, 杨洋溢, 吴星明, 等 . 绳驱动并联机器人张力约束工作空间分析[J]. 北京航空航天大学学报, 2011, 37(7): 817-821.
Chen Weihai, Yang Yangyi, Wu Xingming, et al. Tension restrained workspace analysis for cable-driven parallel robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(7): 817-821. (in Chinese)
Citation: Chen Weihai, Yang Yangyi, Wu Xingming, et al. Tension restrained workspace analysis for cable-driven parallel robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(7): 817-821. (in Chinese)

绳驱动并联机器人张力约束工作空间分析

基金项目: 国家自然科学基金资助项目(50875011;50975017)
详细信息
    作者简介:

    陈伟海(1955-),男,浙江宁波人,教授,whchenbuaa@126.com.

  • 中图分类号: TP 242

Tension restrained workspace analysis for cable-driven parallel robot

  • 摘要: 绳驱动三自由度机器人可以实现空间的自由转动.由于绳索只可拉伸不可压缩的单向特性,研究驱动绳索张力对机器人的控制具有重要意义.运用几何和矩阵的方法可以分析绳索的张力分配情况;在存在张力约束的条件下,提出张力系数作为评价张力分配优劣状况的指标,通过计算可以得到张力系数分布图,从而对机器人工作空间有直观的认识,进而提出有效的张力优化算法;通过对最小预紧力影响因素及选取方法的讨论,可以得到动态最小预紧力实时计算公式,保证绳索时刻处于张紧状态;通过样机的力检测系统张力反馈的实验可以验证理论推导.通过对以上几部分的分析和研究,可以对四绳驱动三自由度机器人的张力问题有综合全面的认识.

     

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出版历程
  • 收稿日期:  2010-07-08
  • 网络出版日期:  2011-07-30

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