缠绕式可重构柔索并联机器人驱动机构运动分析  

Analysis of driving mechanism motion of winding reconfigurable cable parallel robot

作　　者：孙辉辉[1] 罗建国[1] 丁军[1] 张伟杰[1] 张玉洁[1] 

机构地区：[1]华北科技学院机电工程学院,北京东燕郊101601

出　　处：《华北科技学院学报》2016年第6期59-62,共4页Journal of North China Institute of Science and Technology

基　　金：中央高校基本科研业务费资助(3142015038)

摘　　要：针对混合驱动柔索并联机器人末端执行器工作空间受限的问题,以常速电机,伺服电机作为共同驱动机构,五连杆作为传动载体,将平面五连杆的优势和缠绕机构融合,构造出缠绕式的混合驱动五连杆装置。本文对混合驱动五连杆装置的运动学进行分析、建模,并且基于运动模型对其运动性能进行数值仿真。结果表明,缠绕式可重构机器人驱动机构结构合理,工作空间大,驱动控制性能较好。According to the limited working space of ordinary hybrid driven cable parallel robot, the winding reconfigurable cable parallel robot（WRCPR） driving mechanism is designed with five - bar linkage as the carrier and the constant speed motor and servo motor as drive. The mathematical model of five - bar linkage driving mechanism is established, and the kinematics performance analysis is carried out. In addition, the numerical simulation of movement performance is done, and the results show that the structure of WRPR is reasonable, and the control system is convenient.

关 键 词：混合驱动机构 运动性能分析 数值仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]