基于定矢量力输出的八索并联机构索力优化及实验研究

doi:10.13973/j.cnki.robot.2015.0641

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引用本文:
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.DOI: 10.13973/j.cnki.robot.2015.0641. CAO Ling, TANG Xiaoqiang, WANG Weifang. Tension Optimization and Experimental Research of Parallel MechanismDriven by 8 Cables for Constant Vector Force Output. ROBOT, 2015, 37(6): 641-647. DOI: 10.13973/j.cnki.robot.2015.0641.

摘要

提出一种八索并联机构来实现任意定方向矢量力的输出，完成对火箭发射推力的实时模拟．首先通过运动学建模和受力分析，得到八索并联机构的动力学方程．在建立定方向矢量力输出模型的基础上，采用力封闭的索力优化计算理论，对输出定方向矢量力时的机构索力进行了优化求解．最后，分别研究了终端输出不同矢量力时的索力变化规律，并在八索并联机构实验装置上实现定方向矢量力的输出，验证了理论研究的正确性．

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	曹凌
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关键词 ：索并联机构, 定矢量力输出, 索力优化, 索力控制

Abstract：

A parallel mechanism driven by 8 cables is presented to output vector force in an arbitrary constant direction for simulating rocket thrust in real time. By kinematics modeling and force analysis, dynamical equations of 8 cables in the presented mechanism are proposed. Based on constant-direction vector force output model, the cable tensions when outputting constant-direction vector force are calculated with the closed-form cable-force optimization theory. The rules of tension distribution when outputting vector forces with different values in various directions are proposed. In addition, constant-direction vector force is output by the experimental setup of 8-cable parallel mechanism, which demonstrates the rationality of the theoretical research.

Key words： cable parallel mechanism constant vector force output tension optimization cable force control

收稿日期: 2015-04-13 录用日期: 2015-08-15

TP242

基金资助:

国家自然科学基金（51475252，51405024）；清华大学自主科研计划（2014z22068）

通讯作者: 唐晓强，tang-xq@mail.tsinghua.edu.cn E-mail: tang-xq@mail.tsinghua.edu.cn

作者简介: 曹凌（1990-），女，硕士生．研究领域：索并联机构设计与性能分析．
唐晓强（1973-），男，教授，博士生导师．研究领域：并联机器人设计及控制．
王伟方（1989-），男，博士生．研究领域：索并联机构动态特性与控制策略．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2015.0641 或 https://robot.sia.cn/CN/Y2015/V37/I6/641

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