绳牵引并联机构末端执行器运动轨迹精度评价方法  

Evaluation Method of Motion Trajectory Accuracy of End-effector of Cable-driven Parallel Mechanism

作　　者：李航[1] 彭程 杨芳[1] 侯泽群 李杨龙 LI Hang;PENG Cheng;YANG Fang;HOU Zequn;LI Yanglong(Mechatronics Engineering School,Henan University of Science&Technology,Luoyang 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《河南科技大学学报（自然科学版）》2023年第1期13-19,M0003,共8页Journal of Henan University of Science And Technology:Natural Science

基　　金：国家国防基础科研计划基金项目(JCKY2019419D001);河南省科技攻关项目(202102210078)。

摘　　要：面向高动态运动目标模拟需求,设计一种平面4绳牵引2自由度并联机构,研究其末端执行器轨迹精度评价方法。基于末端执行器直线、抛物线和圆运动轨迹离散点测量数据,提出基于最小二乘法的轨迹误差计算方法,完成了末端执行器运动轨迹精度评价。研究结果表明:末端执行器直线运动轨迹误差为1.54%,抛物线运动轨迹误差为1.23%,圆运动轨迹误差为2.26%。To meet the requirements of high dynamic target simulation,a planar 4-cable-driven 2-degrees of freedom parallel mechanism was designed,and the trajectory accuracy evaluation method of its end-effector was studied. Based on the measurement data of discrete points in the linear, parabolic and circular motion trajectories of the end-effector,the trajectory error calculation method based on the least squares method was proposed,and the motion trajectory accuracy evaluation of the end-effector was completed.The results show that the linear motion trajectory error of the end-effector is 1.54%,the parabolic motion trajectory error is 1.23%,and the circular motion trajectory error is 2.26%.

关 键 词：高动态运动目标模拟 绳牵引并联机构 运动轨迹精度评价 最小二乘法 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]