Design and Analysis of Hybrid-driven-based Cable Parallel Mechanism
Design and Analysis of Hybrid-driven-based Cable Parallel Mechanism
复制标题
DOI：
--
复制
发表时间：
2011
影响因子：
--
通讯作者：
C. Jianbin
中科院分区：
文献类型：
--
作者：
C. Jianbin
为了实现绳索并联机构高效、重载、高性能的运动输出，根据并联机器人机构结构综合理论，设计了一种新型的混联驱动平面五杆并联机构实现规划轨迹跟踪运动的绳索并联机构，建立了机构的虚拟样机模型。基于牛顿-欧拉法建立了绳索并联机构的动力学模型，并以三自由度机构为例验证了该方法的有效性。理论分析和实例研究表明，机构设计合理，数学模型正确，为物理样机和控制系统设计提供了理论依据。
In order to accomplish the high efficiency,heavy load,high-performance motion output of the cable parallel mechanism,a new-type hybrid-driven-based cable parallel mechanism(HDCPM),which can perform the planned trajectory tracking motion by means of hybrid-driven planar five-bar parallel mechanism,is designed according to theories of mechanism structure synthesis for parallel robot,and the virtual prototype model of the mechanism is created.The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method.The 3-DOF mechanism is studied as an example to verify the validity of the method,and the simulation results are presented.The theoretical analysis and case study show that the mechanism design is reasonable and mathematical models are correct,which provide the theoretical basis for physics prototype and control system design.