一种绳索驱动平面机器人的运动性能  

Kinematic Behaviors of a Wire-driven Planar Robot

作　　者：王熙杰 蔡慧林[2] Wang Xijie;Cai Huilin(School of Railway Locomotive,Hunan Vocational College of Railway Technology,Zhuzhou 412006,China;School of Electronics and Information Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]湖南铁路科技职业技术学院铁道机车学院,湖南株洲412006 [2]兰州交通大学电子与信息工程学院,甘肃兰州730070

出　　处：《机械传动》2022年第8期22-26,共5页Journal of Mechanical Transmission

基　　金：湖南省教育厅科学研究项目(21C1319)。

摘　　要：针对绳索驱动平面机器人的运动性能在工作空间内的分布规律进行了研究。介绍了绳索驱动平面机器人的构型和工作原理;建立了该机器人的运动学和动力学模型,并讨论了该机器人的工作空间和系统可操作度的评价指标;采用结构矩阵的条件数定义了该机器人的灵巧度衡量指标;通过实例计算分析了运动性能指标在工作空间内的分布规律。结果表明,在工作空间内,不存在奇异位形或不定位形,而且该机器人具有较好的运动和力传递性能,且在工作空间中心区域的运动和力传递性能要优于边界区域。研究结果为该机器人的进一步研究任务规划提供了基础。The distribution law of the kinematic behaviors of the wire-driven planar robot(WDPR)in the workspace is mainly studied.The configuration and working principle of the WDPR are introduced.The kinemat⁃ics and dynamics model of the WDPR are established and the workspace and evaluation index of the maneuver⁃ability of the WDPR are further discussed.The measurement index of the smartness of the WDPR is defined us⁃ing the condition number of the structure matrix.The distribution law of the kinematic behaviors indexes in the effective workspace is given through calculation examples.The research results show that,there are no singular or non-positioned positions in the workspace,the robot has good motion and force transmission performance,and the motion and force transmission performance in the central area of the workspace is better than those in the boundary area of the workspace.The research results can provide certain reference for further research mis⁃sion planning.

关 键 词：绳索驱动机器人 动力学 工作空间 可操作度 灵巧度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]