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对一种4索并联机构进行了运动学分析,考虑4索驱动的冗余性、缆索承力的单向性,对其正向运动学问题进行了求解。首先考虑被控体重力的影响,对实际承载状态进行了分类处理,即分为单索承载、双索承载、三索承载;然后针对每种承载类型,采取“假设—计算、验证—判断、取舍”的方法,获得可能的正解。验证的依据是缆索只能提供拉力,不能提供推力,即不能受压。基于该方法开发了一套4索并联机构运动控制仿真软件,运行结果表明,该方法可有效解决4索并联机构的运动控制问题。
A 4 - cable parallel mechanism was analyzed for its kinematics. Considering the redundancy of 4 - cable drive and the unidirectionality of cable bearing force, the forward kinematics problem was solved. First of all, considering the influence of the gravity of the controlled body, the actual bearing state is classified, that is to say, it is divided into single-rope bearing, double-rope bearing and three-rope bearing. Secondly, for each bearing type, adopt “hypothesis- , Choose ”method, to obtain a possible positive solution. Verification is based on the cable can only provide tension, can not provide thrust, that can not be pressure. Based on this method, a set of 4-wire parallel mechanism motion control simulation software was developed. The results show that this method can effectively solve the motion control problem of 4-parallel mechanism.