索杆混合驱动并联机构设计与工作空间分析

高征; 翟景帅; 张佳涵; 李亚杰

doi:10.16578/j.issn.1004.2539.2020.07.010

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索杆混合驱动并联机构设计与工作空间分析

设计计算 | 更新时间：2022-10-20

- 索杆混合驱动并联机构设计与工作空间分析
- Design and Workspace Analysis of Cable-rod Hybrid Drive Parallel Mechanism
- 机械传动 2020年44卷第7期页码：59-65
- 作者机构：
  
  1.河北大学电子信息工程学院，河北保定 071000
- 作者简介：
  
  高征（1977— ），女，河北保定人，副教授，主要研究方向为并联机器人机构及数控技术。
  翟景帅（1994— ），男，河北保定人，硕士研究生，主要研究方向为并联机构运动平台机构学与控制方法研究。
- 基金信息：
  
  国家自然科学基金(61903119);河北省自然科学基金(F2019201088);河北省基础研究计划项目(F2019201095)
- DOI：10.16578/j.issn.1004.2539.2020.07.010
  中图分类号：
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高征,翟景帅,张佳涵等.索杆混合驱动并联机构设计与工作空间分析[J].机械传动,2020,44(07):59-65.

Gao Zheng Zhai Jingshuai Zhang Jiahan Li Yajie.Design and Workspace Analysis of Cable-rod Hybrid Drive Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(07):59-65.
高征,翟景帅,张佳涵等.索杆混合驱动并联机构设计与工作空间分析[J].机械传动,2020,44(07):59-65. DOI： 10.16578/j.issn.1004.2539.2020.07.010.

Gao Zheng Zhai Jingshuai Zhang Jiahan Li Yajie.Design and Workspace Analysis of Cable-rod Hybrid Drive Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(07):59-65. DOI： 10.16578/j.issn.1004.2539.2020.07.010.

摘要

提出一种新型索杆混合驱动并联机构，在SolidWorks中构建整体装置模型。利用空间向量分析法推导了该机构的运动学逆解模型；分析了并联平台静止状态下受力平衡关系，建立静力学平衡方程，并在此基础上讨论了机构可控工作空间的求解方法；在给定机构运动副的约束条件下，对动平台姿态可控工作空间进行数值仿真，得到仿真图像。搭建索杆混合驱动并联机构试验平台，进行末端动平台位姿变换试验。试验结果与运动学模型和工作空间数值仿真图像对比，结果表明，动平台位姿与柔索长度的关系满足运动学反解模型，末端动平台姿态可实现工作空间仿真图像中最大姿态偏转角度。研究工作为后续机构的实际应用和性能优化奠定了一定的理论基础。

Abstract

A new type of cable-rod hybrid drive parallel mechanism is proposed，and the overall device model is built in SolidWorks. The inverse kinematics model of the mechanism is derived by using the space vector analysis method. The equilibrium relationship of the parallel platform under static state is analyzed，and the statics equilibrium equation is established. On this basis，the solution method of mechanism controllable workspace is discussed. Under the constraint condition of the given mechanism motion pair，the numerical simulation of the controllable working space of the moving platform posture is carried out to obtain the simulation image. The test platform of the cable-rod hybrid drive parallel mechanism is built. The posture transformation test of the moving platform is completed. The experimental results are compared with the kinematics model and the numerical simulation results of the workspace. The test results show that the relationship between the posture of the moving platform and the length of the cable meets the kinematics inverse solution model. The posture of the end moving platform can be transformed to the maximum posture deflection angle in the workspace simulation image. A theoretical foundation for the practical application and performance optimization of the follow-up institutions is laid by this study.

关键词

并联机构索杆混合驱动静力学分析可控工作空间

Keywords

Parallel mechanismCable-rod driveStatics analysisControllable workspace

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