Configuration Synthesis for Fully Restrained 7-Cable-Driven Manipulators
Configuration Synthesis for Fully Restrained 7-Cable-Driven Manipulators
复制标题
完全约束的 7 缆驱动机械臂的配置综合
DOI：
10.5772/52147
复制
发表时间：
2012-10
影响因子：
2.3
通讯作者：
Wang Jinsong
中科院分区：
文献类型：
--
作者：
Tang Xiaoqiang;Tang Lewei;Wang Jinsong
在张力和工作空间质量方面，电缆分布在电缆驱动并联机械手 (CDPM) 中发挥着至关重要的作用，尤其是在完全约束的 CDPM 中。本文重点介绍具有 7 根电缆的完全约束 CDPM 的三种典型配置，以介绍一种配置综合方法。首先建立了三种类型7根电缆CDPM的运动学模型。然后，为了评估工作空间质量，利用沿每根缆索的张力提出了两个新指标，即全缆张力分布指数（ACTDI）和全局张力分布指数（GTDI）。接下来，用两个指标对三种类型的7根电缆的CDPM进行分析。最后根据不同的性能要求，对电缆分布的配置进行了讨论和选择。
Cable distribution plays a vital role in Cable Driven Parallel Manipulators (CDPMs) regarding tension and workspace quality, especially in fully restrained CDPMs. This paper focuses on three typical configurations of fully restrained CDPMs with 7 cables in order to introduce an approach for configuration synthesis. Firstly, the kinematic models of three types of CDPMs with 7 cables are set up. Then, in order to evaluate workspace quality, two new indices are proposed by using tensions along each cable, which are the All Cable Tension Distribution Index (ACTDI) and Global Tension Distribution Index (GTDI). Next, the three types of CDPMs with 7 cables are analysed with the two indices. At the end, according to different performance requirements, the configurations of cable distribution are discussed and selected.