摘要
为了研究不同的工作空间对机构性能评价的准确性和柔索布局对工作空间的影响,本文给出了完全约束和冗余约束柔索并联机构的力螺旋可行工作空间判断条件,即需要同时具备结构矩阵满秩、结构矩阵零空间元素大于0和柔索拉力具有根据实际情况确定的最大最小值限制;推导了力螺旋可行工作空间算法,并且采用8柔索6自由度并联机构进行验证;提出了8柔索并联机构布局方案并进行了工作空间仿真分析,确定新的布局方案对提高柔索并联机构工作空间的有效性。采用提出的算法对新布局方案的柔索与末端执行器铰接点位置进行优化,确定了最佳铰接点位置。结果表明:力螺旋可行工作空间相比于力螺旋封闭工作空间对机构性能评价更准确;布局方案比典型布局方案的力螺旋可行工作空间点数提升约19%。
The workspace of cable-driven parallel mechanism is an important index to evaluate the manipulator performance.To study the accuracy of the performance evaluation of different workspaces and the influence of flexible cable-driven layout on the workspace,the wrench feasible workspace judgment condition is given.It comprises three conditions which must be simultaneously satisfied:the structural matrix must be full-rank,zero-space element must be more than one,and the maximum and minimum limits must be confirmed according to actual situation.The algorithm of wrench feasible workspace is deduced and validated with the eight flexible cables six-degree-of-freedom parallel mechanism.A new layout scheme for the eight flexible cables parallel mechanism is proposed,and then the workspace parallel mechanism is analyzed to verify the effectiveness of the new layout scheme in improving workspace simulation.The proposed algorithm is used to optimize the hinge position of the flexible cable and the end effector in the new layout scheme,and the optimal hinge position is determined.The results show that the performance evaluation by the wrench feasible workspace is more accurate than that by the wrench-closure workspace,and the number of wrench feasible workspace points of the new layout scheme is about 19%higher than that of the typical layout scheme.
作者
张立勋
宋达
李来禄
薛峰
ZHANG Lixun;SONG Da;LI Lailu;XUE Feng(College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2018年第12期2017-2024,共8页
Journal of Harbin Engineering University
基金
国家自然科学基金面上项目(61773007
61175128)
关键词
柔索驱动
并联机构
力螺旋可行工作空间
布局优化
空间算法
结构矩阵
完全约束
冗余约束
flexible cable drive
parallel mechanism
wrench feasible workspace
layout optimization
workspace algorithm
structure matrix
complete constraint
redundant constraint
作者简介
张立勋(1962-),男,教授,博士生导师;通信作者:宋达(1989-),男,博士研究生;E-mail:songda@hrbeu.edu.cn.
