混合驱动柔索并联机器人的设计与分析  

Design and Analysis of Hybrid-driven-based Cable Parallel Mechanism

作　　者：訾斌[1] 朱真才[1] 曹建斌[1] 

机构地区：[1]中国矿业大学机电工程学院,徐州221116

出　　处：《机械工程学报》2011年第17期1-8,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50905179);中国博士后科学基金(201003605)资助项目

摘　　要：为了使柔索并联机器人高效率、大负载、高性能的运动输出,根据并联机器人机构结构综合理论,设计一种新型混合驱动柔索并联机器人机构,给出机构虚拟样机模型,该机构通过混合驱动平面五连杆并联机构驱动柔索牵引末端执行器完成期望轨迹跟踪运动。基于牛顿—欧拉方法,建立混合驱动柔索并联机器人系统的动力学方程,结合实例进行力学分析和数值仿真。结果表明,混合驱动柔索并联机器人机构设计合理,数学模型正确,为混合驱动柔索并联机器人物理样机设计制造和控制系统的设计提供了理论依据。In order to accomplish the high efficiency,heavy load,high-performance motion output of the cable parallel mechanism,a new-type hybrid-driven-based cable parallel mechanism（HDCPM）,which can perform the planned trajectory tracking motion by means of hybrid-driven planar five-bar parallel mechanism,is designed according to theories of mechanism structure synthesis for parallel robot,and the virtual prototype model of the mechanism is created.The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method.The 3-DOF mechanism is studied as an example to verify the validity of the method,and the simulation results are presented.The theoretical analysis and case study show that the mechanism design is reasonable and mathematical models are correct,which provide the theoretical basis for physics prototype and control system design.

关 键 词：混合驱动 柔索并联机器人 机构设计 动态分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]