[1]刘华生,童昕.两自由度绳牵引并联机构[J].华侨大学学报(自然科学版),2004,25(4):410-414.[doi:10.3969/j.issn.1000-5013.2004.04.017]
　Liu Huasheng,Tong Xin.A Wire-Driven Parallel Mechanism with Two Degrees of Freedom[J].Journal of Huaqiao University(Natural Science),2004,25(4):410-414.[doi:10.3969/j.issn.1000-5013.2004.04.017]
点击复制

两自由度绳牵引并联机构()
分享到：

《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第25卷
期数:
2004年第4期
页码:
410-414
栏目:
出版日期:
2004-10-20

文章信息/Info

Title:
A Wire-Driven Parallel Mechanism with Two Degrees of Freedom
文章编号:
1000-5013(2004)04-0410-05
作者:
刘华生; 童昕
华侨大学机电及自动化学院; 华侨大学机电及自动化学院 福建泉州362021; 福建泉州362021
Author(s):
Liu Huasheng;  Tong Xin
College of Electromech. Eng. & Auto., Huaqiao Univ., 362021, Quanzhou, China
关键词:
绳牵引;  并联机构;  拉力分布;  仿真
Keywords:
wire-driven;  parallel mechanism;  tension distribution;  simulation
分类号:
TH112; TH113.22
DOI:
10.3969/j.issn.1000-5013.2004.04.017
文献标志码:
A
摘要:
对两自由度绳牵引并联机构作系统研究,进行运动学、静力学和动力学的分析 .设计出控制系统,并在Simulink下完成系统仿真 .提出求运动学正解的新算法,可以显著减小系统误差; 抽出新的拉力分布方法并利用绳牵引并联机构的拉力应满足的条件,建立一个线性规划的标准模型 .用单纯形法可以方便地求出绳的拉力,并确保满足绳拉力大于零的条件,且拉力的分布更加合理 .仿真结果验证以上算法的正确性
Abstract:
With respect to a wire-driven parallel mechanism with two degrees of freedom, the authors make a systematic study and carry out kinematic, static and dynamic analysis. A control system is designed and the system is simulated under Simulink. A new algorithm is proposed for kinematic positive solution, by which the system error can be significantly reduced. A new method of tension distribution is explored; and the standard model of linear programming is established by using the conditions with which the tension of the wire-driven parallel mechanism should be met. By using simplex method, the wire tension can be easily solved and can be ensured to meet the conditions that it is above zero and its distribution is even more reasonable. The correctness of the algorithms mentioned above is verified by results of simulation.

参考文献/References:

[1] Williams II R L, Gallina P. Planar cable-direct-driven robots part I: Kinematics and statics. In [A]. New York:ASME Technical Publishing Department, 2001.21145-21146.
[2] Gallina P, Rossi A, Williams II R L. Planar cable-direct-driven robots part II:Dynamics and control [A]. New York:ASME Technical Publishing Department, 2001.21146-21147.
[3] 郑亚青, 刘雄伟. 绳牵引并联机构的研究概况与发展趋势 [J]. 中国机械工程, 2003(9):808-810.doi:10.3321/j.issn:1004-132X.2003.09.028.
[4] 张建中, 许绍吉. 线性规划 [M]. 北京:科学出版社, 2002.1-70.
[5] 何坚勇. 运筹学基础 [M]. 北京:清华大学出版社, 2000.40-92.
[6] Strong G. Linear algebra and applications [M]. New York:Academic Press, 1980.305-322.

相似文献/References:

[1]郑亚青.6自由度绳牵引并联机构的运动学参数标定[J].华侨大学学报(自然科学版),2006,27(2):184.[doi:10.3969/j.issn.1000-5013.2006.02.020]
　Zheng Yaqing.Kinematic Calibration of 6-DOF Wire-Driven Parallel Manipulators[J].Journal of Huaqiao University(Natural Science),2006,27(4):184.[doi:10.3969/j.issn.1000-5013.2006.02.020]
[2]郑亚青.绳牵引并联机器人的样条函数法运动轨迹规划[J].华侨大学学报(自然科学版),2007,28(2):113.[doi:10.3969/j.issn.1000-5013.2007.02.001]
　ZHENG Ya-qing.Trajectory Planning of Wire-Driven Parallel Manipulators by Using Spline Function Approach[J].Journal of Huaqiao University(Natural Science),2007,28(4):113.[doi:10.3969/j.issn.1000-5013.2007.02.001]
[3]郑亚青,朱文白,刘雄伟.FAST馈源舱绳牵引并联支撑系统的机构设计[J].华侨大学学报(自然科学版),2007,28(4):345.[doi:10.3969/j.issn.1000-5013.2007.04.003]
　ZHENG Ya-qing,ZHU Wen-bai,LIU Xiong-wei.Mechanism Design of a Wire-Driven Parallel Suspension System for the Feed Cabin of Fast[J].Journal of Huaqiao University(Natural Science),2007,28(4):345.[doi:10.3969/j.issn.1000-5013.2007.04.003]
[4]胡龙,郑亚青,林麒,等.低速风洞绳牵引并联机构的动力学分析[J].华侨大学学报(自然科学版),2008,29(2):184.[doi:10.11830/ISSN.1000-5013.2008.02.0184]
　HU Long,ZHENG Ya-qing,LIN Qi,et al.Dynamic Analysis of a Wire-Driven Parallel Manipulator for Low-Speed Wind Tunnels[J].Journal of Huaqiao University(Natural Science),2008,29(4):184.[doi:10.11830/ISSN.1000-5013.2008.02.0184]
[5]郑亚青.WDPSS缩比模型的低速风洞测力试验[J].华侨大学学报(自然科学版),2009,30(2):119.[doi:10.11830/ISSN.1000-5013.2009.02.0119]
　ZHENG Ya-qing.Force-Measuring Experiment for the Scale Model of WDPSS in Low-Speed Wind Tunnel[J].Journal of Huaqiao University(Natural Science),2009,30(4):119.[doi:10.11830/ISSN.1000-5013.2009.02.0119]
[6]于兰,郑亚青.3种构型的6自由度绳牵引门式起重机器人的运动学位置逆解分析[J].华侨大学学报(自然科学版),2012,33(2):125.[doi:10.11830/ISSN.1000-5013.2012.02.0125]
　YU Lan,ZHENG Ya-qing.Analysis of Inverse Pose Kinematics for 3 6-DOF Wire-Driven Crane Robots with Different Mechanism Configurations[J].Journal of Huaqiao University(Natural Science),2012,33(4):125.[doi:10.11830/ISSN.1000-5013.2012.02.0125]
[7]王梓,郑亚青.风洞层流风场中的WDPSS-8机器人系统的末端位姿偏移及补偿[J].华侨大学学报(自然科学版),2015,36(5):494.[doi:10.11830/ISSN.1000-5013.2015.05.0494]
　WANG Zi,ZHENG Ya-qing.End-Pose Deviation and Compensation for WDPSS-8 Robotic System in Laminar Flow Field of Wind Tunnels[J].Journal of Huaqiao University(Natural Science),2015,36(4):494.[doi:10.11830/ISSN.1000-5013.2015.05.0494]
[8]郑亚青,刘雄伟.六自由度绳牵引并联机构的可达工作空间分析[J].华侨大学学报(自然科学版),2002,23(4):393.[doi:10.3969/j.issn.1000-5013.2002.04.013]
[9]郑亚青,刘雄伟.六自由度绳牵引并联机构的轨迹规划[J].华侨大学学报(自然科学版),2003,24(4):385.[doi:10.3969/j.issn.1000-5013.2003.04.010]
　Zheng Yaqing,Liu Xiongwei.Trajectory Planning of a 6-DOF Wire-Driven Parallel Kinematic Manipulator[J].Journal of Huaqiao University(Natural Science),2003,24(4):385.[doi:10.3969/j.issn.1000-5013.2003.04.010]
[10]郑亚青.绳牵引并联机构与多指手抓取的连接关系[J].华侨大学学报(自然科学版),2006,27(4):396.[doi:10.3969/j.issn.1000-5013.2006.04.017]
　Zheng Yaqing.On the Connections Between Wire-Driven Parallel Manipulators and Multi-Finger Grasping[J].Journal of Huaqiao University(Natural Science),2006,27(4):396.[doi:10.3969/j.issn.1000-5013.2006.04.017]
[11]郑亚青.含弹性索的绳牵引并联机构的动力学和末端轨迹控制[J].华侨大学学报(自然科学版),2018,39(6):794.[doi:10.11830/ISSN.1000-5013.201808001]
　ZHENG Yaqing.Dynamics and End Trajectory Control of 2-Cable-Driven Parallel Mechanism With Elastic Cable[J].Journal of Huaqiao University(Natural Science),2018,39(4):794.[doi:10.11830/ISSN.1000-5013.201808001]

更新日期/Last Update: 2014-03-23