典型空间轨迹的张力优化算法研究  

The Research of Optimal Tension Distribution Methods Based on Typical Trajectory

作　　者：张卓[1] 梁艳阳[1] 刘宏伟[1] 王效杰[1] 

机构地区：[1]西南科技大学特殊环境机器人技术四川省重点实验室,四川绵阳621010

出　　处：《机械设计与制造》2016年第4期35-38,43,共5页Machinery Design & Manufacture

基　　金：四川省科技创新苗子工程(2015025);四川省科技厅项目(2014NZ0118);四川省教育厅项目(15ZB0120)

摘　　要：由于柔索驱动并联机构的驱动冗余性,使柔索张力求解的复杂性成为了系统的重要指标。首先建立柔索驱动并联机器人模型,同时对其进行静力学分析.其次,在一般线性规划算法的基础上,研究了两种张力优化算法并完成算法仿真.最后,以4柔索3自由度柔索驱动并联机器人为例,通过MATLAB平台实现该机器人在典型空间轨迹下的动态仿真,对比分析1-范数法和新型算法的仿真结果,观察动态柔索的张力分布变化,验证新型张力优化算法的高效性和正确性。The complexity in solving the cable tension,which results from the driven redundancy of cable-driven parallel robots,is the important indicator of the system. Firstly,establishesthe cable-driven parallel robot model and analyzesthe statics of the robot. Secondly,twooptimal tension distribution methodswhich based on normal linear programmingare studied and complete the algorithm simulation. At the end,takes 3-DOF cable-driven parallel robot with four cables as an example and realizesthe robots＇ dynamic simulations in typical trajectories with MATLAB. Comparing the simulation results of the 1-norm optimal tension distribution algorithm and new optimal tensiondistribution algorithm,as well as observingthe force distribution change of cables in dynamic situation,the effectiveness and the correctness of new optimal tension algorithm is verified.

关 键 词：柔索驱动 并联机器人 线性规划 张力优化 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]