考虑平台质心偏置的索并联系统性能优化  

Performance Optimization of Cable-Driven Parallel System Considering Center of Mass of Platform

作　　者：白孟轩 曾建江[1] 陈强 郑茂盛 尤禄杰 陈建平[1] 童明波[1] BAI Mengxuan;ZENG Jianjiang;CHEN Qiang;ZHENG Maosheng;YOU Lujie;CHEN Jianping;TONG Mingbo(College of Aerospace Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China;Beijing Institute of Special Engineering Design and Research,Beijing 100028,China)

机构地区：[1]南京航空航天大学航空学院,南京210016 [2]北京特种工程设计研究院,北京100028

出　　处：《南京航空航天大学学报(自然科学版)》2025年第2期301-309,共9页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：航空科学基金(20230023052001);江苏高校优势学科建设工程(PAPD)。

摘　　要：索并联系统力控工作空间(Force controllable workspace,FCWS)和系统刚度是索并联系统的重要性能,当运动平台质心偏离其形心位置时会产生额外力矩,对索并联系统性能产生不利的影响。为减轻质心偏置所造成的不利影响,本文针对36索6自由度索并联系统提出了一种新的绳索布局,通过分类最小方差法求解冗余索并联系统动力学方程,进而计算FCWS并分析了各组绳索在空间各点上对FCWS的不利影响,计算了索并联系统理论静刚度。根据质心是否发生偏置,比较分析典型布局与新布局在索并联系统性能上的优劣。结果表明:质心位于形心时,两种布局FCWS相差不大;当质心发生偏置时,交叉布局FCWS比典型布局提升约31.9%,两种布局的平动刚度相差不大,而交叉布局的扭转刚度相比典型布局得到了明显的提升,验证了新布局在改善系统性能上的有效性。所得结论为索并联系统结构布置提供了一定参考。Force controllable workspace(FCWS)and system stiffness are important performance of cabledriven parallel system.When the center of mass of movable platform deviates from its centroid position,extra torque will be generated,which adversely affects the performance of cable-driven parallel system.To reduce the adverse effects caused by centroid bias,a new cable layout is proposed for the 36-cable 6-DOF cabledriven parallel system,and the dynamics equation of the redundant cable-driven parallel system is solved by the classified minimum variance optimization.Then the FCWS is calculated and the adverse effects of each group of cables on FCWS at each point in space are analyzed,and the theoretical static stiffness of the cabledriven parallel system is calculated.According to whether the center of mass is biased or not,the advantages and disadvantages of the typical layout and the new layout in the cable-driven parallel system are compared and analyzed.The results show that when the center of mass is in the centroid,there is little difference in FCWS between the two layouts.When the center of mass is biased,the FCWS of the cross layout is about 31.9%higher than that of the typical layout,and the translational stiffness of the two layouts is not much different,while the torsional stiffness of the cross layout is significantly higher than that of the typical layout,which verifies the effectiveness of the new layout in improving the system performance.The conclusion can provide some reference for the structure layout of the cable-driven parallel system.

关 键 词：力控工作空间 系统刚度 索并联系统 低重力试验模拟平台 航天返回 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]