索杆高度可变的3自由度欠约束并联机器人的力学分析  

Mechanical Analysis of a 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Heights

作　　者：赵涛 郑逸 丁晓军[2] 李柯强 杨举彪 朱洋 Zhao Tao;Zheng Yi;Ding Xiaojun;Li Keqiang;Yang Jubiao;Zhu Yang(College of Mechatronic Engineering,North Minzu University,Yinchuan 750021,China;School of Electrical and Information Engineering,North Minzu University,Yinchuan 750021,China)

机构地区：[1]北方民族大学机电工程学院,宁夏银川750021 [2]北方民族大学电气信息工程学院,宁夏银川750021

出　　处：《机械传动》2023年第4期131-137,共7页Journal of Mechanical Transmission

基　　金：宁夏自然科学基金(2021AAC03178);宁夏重点研发计划(引才专项)(2021BEB04029);北方民族大学中央高校基本科研业务费专项资金(2020KYQD26)。

摘　　要：柔索驱动并联机器人是并联机构中的一种特殊柔性机构,通过使用柔索代替刚性杆驱动末端执行器,其综合了柔性机器人和并联机器人两方面的优点。研究了一种索杆高度可变的3自由度欠约束并联机器人,根据矢量闭环原理,建立该机器人的逆运动学模型;根据柔索的长度,推导该机器人的正运动学模型;采用拉格朗日公式,建立该机器人的动力学模型;利用Monte-Carlo方法,研究该机器人的静力学工作空间;给定末端执行器的运动轨迹,通过机器人的逆运动学模型得出3根柔索的期望长度,以3根柔索的期望长度作为实验输入,得到3根柔索的实验长度曲线和拉力曲线以及机器人的正运动学轨迹。实验结果验证了该机器人的正逆运动学和动力学模型的正确性以及工作空间的有效性。The cable-driven parallel robot is a special flexible mechanism in parallel mechanism,the end-effector of which is driven by cables instead of rigid rods.It integrates the advantages of flexible robots and parallel robots.A three-degree-of-freedom(3-DOF)under-constrained parallel robot with variable cable mast heights is investigated in this study.The inverse kinematics model of the robot is established by using the vector closed-loop principle.The forward kinematics model of the robot is derived according to cable lengths.The dynamics model of the robot is established based on the Lagrange formula.The static equilibrium workspace(SEW)of the robot is studied using the Monte-Carlo method.Given the motion trajectory of the end-effector,the expected three cable lengths are obtained through the inverse kinematics model of the robot.Taking the expected three cable lengths as the experimental input,the experimental curves of cable lengths and cable tensions as well as the forward kinematics trajectory of the robot are obtained.The experimental results validate the correctness of the forward and inverse kinematics models and the dynamics model of the robot,as well as the effectiveness of the SEW.

关 键 词：柔索驱动并联机器人 索杆高度可变 正逆运动学模型 动力学模型 静力学工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]