基于动态松弛法的柔索驱动并联机器人位置正解分析  

Forward Position Analysis of Parallel Wire-Driven Robot with Dynamic Relaxation Method

作　　者：杜敬利[1] 段宝岩[1] 仇原鹰[1] 訾斌[1] 

机构地区：[1]西安电子科技大学,西安710071

出　　处：《应用力学学报》2007年第4期652-655,共4页Chinese Journal of Applied Mechanics

基　　金：国家自然科学基金跨科学部交叉重点项目(10433020)资助

摘　　要：根据悬链线解析表达式推导出悬索两端固定时索端拉力与索长之间的关系,用于求解特定长度的驱动柔索对处于某一位姿的动平台的作用力。动态松弛法可以从任意的初始状态开始,通过简单迭代而使系统达到静平衡状态。将该方法应用到柔索驱动并联机器人的位置正解分析中,可以得到与特定索长对应的动平台位姿。以舱索系统为例验证了方法的正确性。The relation between end forces and cable length is derived based on the analysis is for catenary of a cable with two fixed endpoints. The actuating forces on the mobile platform locating at a certain position can be evaluated with the given driving cables lengths. The dynamic relaxation method enables to search the static equilibrium state by simple iterations. The position and pose of the mobile platform corresponding to certain cable lengths thus are determined via the forward position analysis of parallel wire-driven robot. Detailed analysis procedure of cabin-cable system is presented to confirm the efficiency and applicability.

关 键 词：柔索驱动机器人 舱索系统 位置正解 动态松弛 非线性分析 

分 类 号：TU323.8[建筑科学—结构工程]