Kinematic Behaviors of a Wire-driven Planar Robot

Xijie Wang; Huilin Cai

doi:10.16578/j.issn.1004.2539.2022.08.004

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Kinematic Behaviors of a Wire-driven Planar Robot

Theory·Reserach | 更新时间：2022-09-23

- Kinematic Behaviors of a Wire-driven Planar Robot
- Journal of Mechanical Transmission Vol. 46, Issue 8, Pages: 22-26(2022)
- 作者机构：
  
  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
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.08.004
  CLC：
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王熙杰,蔡慧林.一种绳索驱动平面机器人的运动性能[J].机械传动,2022,46(08):22-26.

Wang Xijie,Cai Huilin.Kinematic Behaviors of a Wire-driven Planar Robot[J].Journal of Mechanical Transmission,2022,46(08):22-26.
王熙杰,蔡慧林.一种绳索驱动平面机器人的运动性能[J].机械传动,2022,46(08):22-26. DOI： 10.16578/j.issn.1004.2539.2022.08.004.

Wang Xijie,Cai Huilin.Kinematic Behaviors of a Wire-driven Planar Robot[J].Journal of Mechanical Transmission,2022,46(08):22-26. DOI： 10.16578/j.issn.1004.2539.2022.08.004.

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。

Abstract

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 kinematics and dynamics model of the WDPR are established and the workspace and evaluation index of the maneuverability of the WDPR are further discussed. The measurement index of the smartness of the WDPR is defined using 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 mission 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

Keywords

Wire-driven robotsDynamicsWorkspaceManeuverabilitySmartness

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