多功能模块化柔索导向装置设计及实验研究  

Multi-Functional Modular Cable Oriented Device and Experimental Research

作　　者：刘浩[1] 訾斌[1] 王炳尧 钱森[1] 

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009

出　　处：《机械设计与制造》2018年第2期235-237,241,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51575150)

摘　　要：为实现柔索在连续变向过程中的高精度导向以及柔索姿态、张力的实时检测,提出了一种基于可连续变向柔索的多功能模块化柔索导向装置及其检测方法。在柔索导向装置中添加了球铰式漏斗形导向管道,在对单根柔索进行了运动学和静力学分析的基础上,给出了该装置导向的整个运作过程和柔索张力检测原理。为了验证整个装置的有效性,借助三自由度柔索并联实验平台,进行了仿真和实验。结果表明:该多功能模块化柔索导向装置具有良好的动态导向性,柔索姿态和张力的实时检测数值也具有一定的精确性和稳定性。In order to achieve high precision orientation and attain red-time detection of cable＇s pose and tension, based on continuous cable orientation, multi-functional modular cable oriented device and detection method has been proposed. It adopts a different oriented pipe with spherical hinge which can change direction in this cable oriented device, based on analysis of kinematics and statics of singular cable, it is displayed that this oriented device is how to operate and how to achieve cable＇s tension detection. In order to verify the validity of the entire device, with the help of three degrees of freedom cable driven parallel experiment platform, simulation and experiment has been carried out. Theresults show that： the multi- function modular cable oriented device has a good dynamic orientation, real-time detection of cable＇s pose and tension also has a certain accuracy and stability.

关 键 词：柔索导向装置 柔索姿态 多功能模块化 动态导向 

分 类 号：TH16[机械工程—机械制造及自动化]