柔索驱动并联机器人变态模型相似性分析  

On Similarity of the Abnormal Model of a Wire Driven Parallel Robot

作　　者：汤奥斐[1,2] 仇原鹰[1] 米建伟[1] 孔令飞[2] 

机构地区：[1]西安电子科技大学机电工程学院,陕西西安710071 [2]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《应用基础与工程科学学报》2009年第3期452-460,共9页Journal of Basic Science and Engineering

基　　金：国家自然科学基金资助项目(10433020)教育;部留学回国人员实验室基金(030401);优秀博士论文专项基金资助(200535)

摘　　要：分析了大跨度柔索驱动并联机器人(wire driven parallel robot,WDPR)变态模型的预测系数及相似度问题.建立了大射电望远镜(large radio telescope,LT)中WDPR系统的索张力和基频的相似性经验公式,并以此为基础获得了索张力和基频的预测系数.运用模糊数学理论确定出相似度的表达式.最后,通过模型试验和仿真分析验证出预测系数的有效性和相似度定义的合理性.研究理论为LT变态模型的试验奠定了基础.同时,研究方法也可应用到其它变态模型的相似性研究中.The forecasting coefficients and the similar measure of the abnormal model of a long span wire driven parallel robot （WDPR） were analyzed. The similar empirical formulas on the cable tensions and the structural basic natural frequency for the Large Radio Telescope （LT） were constructed. Based on the two similar empirical formulas, the forecasting coefficients on the cable tensions and the structural basic natural frequency were obtained. Using the fuzzy mathematical theory, the expressions of the similar measure were determined. Finally, the model experiments and simulations show that the forecasting coefficients are efficient and the expressions for the similar measure are reasonable. This new method lays a experimental foundation for the abnormal model, and similarity analysis can be also developed to the study on similarity for some other abnormal models in engineering.

关 键 词：大射电望远镜 柔索并联机器人 相似性 变态系数 相似度 

分 类 号：TH753.3[机械工程—仪器科学与技术]