面向浮游平台的柔索机械臂设计及运动特性分析  

Design of manipulator driven by flexible cable for floating platform and analysis on its motion characteristics

作　　者：宋厚毅 赵志刚[1] 苏程[1] 李涛 SONG Houyi;ZHAO Zhigang;SU Cheng;LI Tao(School of Mechatronics Engineering,Lanzhou Jiaotong University,Lanzhou 730070)

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070

出　　处：《机械设计》2024年第9期27-33,共7页Journal of Machine Design

基　　金：国家自然科学基金项目(51965032);甘肃省自然科学基金重点项目(22JR5RA319);甘肃省科技计划资助项目(21YF5WA060)。

摘　　要：为克服传统刚性机械臂自重过大而减小了其负载自重比和降低了灵活性等问题,提出一种柔索驱动串并联机械臂,在绘图软件SolidWorks中进行零件的绘制及总体装配,并简述了该机械臂的组成及工作方式。针对此机械臂建立世界坐标系和随体坐标系,采用D-H法对机械臂进行运动学分析,而后采用空间矢量封闭法完成机械臂并联关节的驱动空间到关节空间映射的推导,建立机械臂整体的运动学模型。以此为基础,利用仿真软件对机械臂工作空间进行仿真,结果证明了工作空间的准确性,为后续机械臂的工程应用和相关优化奠定理论基础。The conventional rigid manipulator is so heavy,which contributes to its low load-to-weight ratio and poor flexibil-ity.In this article,a tandem-parallel manipulator driven by the flexible cable is proposed;its parts are formulated and assembled in the drawing software SolidWorks.The manipulator’s composition and working principle are briefly described.Both the world coordinate system and the accompanying coordinate system are set up for the manipulator;the kinematic analysis is carried out with the help of the D-H method.Then,the space vector closure method is used to derive the mapping from the driving space to the joint space of the manipulator’s parallel joint,and the overall kinematic model is constructed.Next,the manipulator’s work-space is simulated by means of the simulation software;it is proved that the workspace is accurate.The results lay a theoretical foundation for the manipulator’s engineering application and optimization in the future.

关 键 词：串并联机械臂 柔索驱动 运动学 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]