绳驱动并联机器人绳索拉力及工作空间求解方法研究  

Research of rope tension and workspace of wire-driven parallel robot

作　　者：桑秀凤 陈笋[2] 陈柏[1] 耿令波[3] 吴洪涛[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]上海交通大学附属新华医院儿科心脏中心,上海200092 [3]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016

出　　处：《应用科技》2014年第4期51-55,共5页Applied Science and Technology

基　　金：国家"863"计划资助项目(2013AA041004);江苏省产学研联合创新基金资助项目(BY2012011);南京市科委产学研计划资助项目(201204014);上海市科委科技计划资助项目(124119a3900);上海交大医工交叉项目(YG2011MS08)

摘　　要：绳驱动并联机器人的驱动冗余性导致绳索拉力的求解复杂性、工作空间成为系统的重要指标。文中建立了机器人系统静力学和动力学的统一模型,对绳索拉力求解优化算法以及工作空间求解方法进行研究,通过MATLAB仿真求得了4根绳驱动康复机器人系统驱动绳索拉力和工作空间,验证了绳驱动并联机器人绳索拉力优化求解方法和工作空间计算方法的正确性。The complexity in solving the rope tension , which results from the driven redundancy of a wire-driven parallel robot , and workspace are important indicators of the system .The unified model of statics and dynamics was established in this paper .The optimization algorithm for solving the rope tension and the solution method of work-space were studied .The rope tension and the workspace of the 4 wire-driven rehabilitative robot were obtained by MATLAB simulation .The correctness of optimization method for solving the rope tension and workspace calculation method of the wire-driven parallel robot was verified .

关 键 词：绳驱动 机器人 并联机器人 绳索拉力 工作空间 MATLAB 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]