面向在轨装配的八索并联机构构型设计与工作空间分析  

Configuration Design and Workspace Analysis of Parallel Mechanism Driven by Eight Cables for On-orbit Assembly

作　　者：于金山 李潇[2] 陶建国[1] 王浩威 孙浩 YU Jinshan;LI Xiao;TAO Jianguo;WANG Haowei;SUN Hao(School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001;Institute of Spacecraft System Engineering,China Academy of Space Technology,Beijing 100094;Department of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108)

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]中国空间技术研究院北京空间飞行器总体设计部,北京100094 [3]福州大学机械工程与自动化系,福州350108

出　　处：《机械工程学报》2021年第21期1-10,共10页Journal of Mechanical Engineering

基　　金：中国空间技术研究院预研资助项目。

摘　　要：针对大型空间结构的在轨装配任务,提出了由八根绳索驱动的索并联机构,具有结构简单、质量轻、工作空间大的特点;针对绳索并联机构的构型综合问题,定义了出线点和绳索与中心执行器连接点的关联矩阵,在此基础上考虑约束条件综合出了八索并联机构的18种有效构型;计算了不同构型的力封闭工作空间以及针对在轨装配任务时的力螺旋可行工作空间,以工作空间体积为指标筛选出了最佳构型;分析了绳索拉力范围以及绳索与中心执行器连接点的位置变化对机构力螺旋可行工作空间的影响,并且对连接点的位置参数进行了优化。For the on-orbit assembly task of large space structures,a parallel mechanism driven by eight cables is proposed,which has the characteristics of simple structure,light weight and large workspace;for the design of the configuration of the cable-driven parallel mechanism,the correlation matrix of the the outlet points and connection points between the cable and the central actuator is defined,on the basis of which the constraints are considered,the 18 effective configurations of the cable-driven parallel mechanism are synthesized;the force-closure workspace and the feasible wrench workspace of different configurations are calculated.The best configuration is selected based on the volume of the workspace;the effect of changing the cable tension and the position of the connection points between the cables and the central actuator on the feasible wrench workspace of the mechanism is analyzed,and the position parameters is optimized.

关 键 词：在轨装配 索并联机构 构型设计 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]