【摘要】：通常情況下,電纜驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)(CDPMs)是一種特殊類型的由電纜驅(qū)動(dòng)而不是剛性體驅(qū)動(dòng)的并聯(lián)機(jī)構(gòu)。由于電纜的單側(cè)傳動(dòng)性能,CDPMs需要冗余驅(qū)動(dòng)維持大于零的繩索張力。作為并聯(lián)機(jī)器人中的一種,CDPMs有負(fù)載能力強(qiáng),剛度大,效率高等優(yōu)點(diǎn)。此外,CDPMs克服了剛性并聯(lián)機(jī)器人工作空間小的缺點(diǎn)。不同于剛性連接,電纜長(zhǎng)度可在很大的范圍內(nèi)變化,從而增大CDPMs工作區(qū)。本文重點(diǎn)研究了CDPMs靜力學(xué)、運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)、張力分配、工作空間、控制和仿真問(wèn)題,旨在提高CDPMs的運(yùn)動(dòng)學(xué)正反解、靜態(tài)位姿、可行軌跡和空間規(guī)劃精度的問(wèn)題。為了研究這些問(wèn)題,搭建由四根繩索牽引的空間三自由度CDPMs模型。在幾乎所有的CDPR/CDPM研究工作中,機(jī)構(gòu)的結(jié)構(gòu)被布置成使得所有的電纜連接在平臺(tái)的上邊緣或者下邊緣,以使平臺(tái)能夠自由移動(dòng)覆蓋大部分工作區(qū)。然而,也有一些應(yīng)用領(lǐng)域,其不一定需要在底部沒(méi)有電纜或自由旋轉(zhuǎn)的平臺(tái),而是用一根電纜固定在底部。因此,在本論文中,有一根電纜放置在機(jī)構(gòu)的底部。由于CDPMs的運(yùn)動(dòng)學(xué)正解是閉環(huán)結(jié)構(gòu),與運(yùn)動(dòng)學(xué)反解相比相對(duì)困難。在本論文中,應(yīng)用牛頓-拉夫遜數(shù)值方法,通過(guò)建立牛頓-拉夫遜矩陣和雅可比矩陣之間的映射來(lái)改進(jìn)其計(jì)算性能,以獲得運(yùn)動(dòng)學(xué)正解。為了幫助這個(gè)過(guò)程,開(kāi)發(fā)了一種算法。此外,對(duì)于三自由度空間類型CDPMs機(jī)構(gòu),計(jì)算運(yùn)動(dòng)學(xué)反解即為給定平臺(tái)的位置計(jì)算電纜的長(zhǎng)度變化。CDPMs的另一個(gè)顯著特點(diǎn)是電纜的單向性,即電纜只能拉而不推。因此,CDPMs需要冗余驅(qū)動(dòng)來(lái)保持電纜的正向張力。確保CDPMs中適當(dāng)?shù)膹埩κ呛苤匾?這樣使得移動(dòng)平臺(tái)的姿態(tài)可以通過(guò)至少一個(gè)適當(dāng)?shù)恼娎|張力來(lái)完全約束。在本論文中,力閉環(huán)、零空間法和分割工作空間方法均可以被用來(lái)獲得CDPMs的正張力解決方案。此外,本研究工作也涵蓋了3自由度空間CDPMs的動(dòng)力學(xué)分析與控制。本論文論述了應(yīng)用具有內(nèi)循環(huán)和外循環(huán)的級(jí)聯(lián)控制方案。內(nèi)環(huán)用于控制機(jī)構(gòu)的位置,而外環(huán)控制張力。此外,本論文也使用Simulink,SimMechanics和SolidWorks進(jìn)行編程、建模和運(yùn)動(dòng)模擬。
[Abstract]:In general, the cable driven parallel mechanism (CDPMs) is a special type of parallel mechanism driven by cable rather than rigid body. Because of the single-side transmission performance of the cable, CDPMs needs redundant drive to maintain rope tension greater than zero. As a parallel robot, CDPMs has many advantages, such as high load capacity, high stiffness and high efficiency. In addition, CDPMs overcomes the disadvantage of small workspace of rigid parallel robot. Unlike rigid connections, cable lengths can vary over a wide range, increasing the CDPMs workspace. This paper focuses on the problems of CDPMs statics, kinematics, dynamics, tension distribution, workspace, control and simulation. The purpose of this paper is to improve the kinematics inverse solution, static pose, feasible trajectory and spatial planning accuracy of CDPMs. In order to study these problems, a three-degree-of-freedom (CDPMs) model with four ropes was built. In almost all CDPR/CDPM studies, the structure of the mechanism is arranged so that all cables are connected to the upper or lower edges of the platform so that the platform can move freely to cover most of the work areas. However, there are also areas of application where there is not necessarily a cable at the bottom or a freely rotating platform, but a cable attached to the bottom. Therefore, in this paper, there is a cable placed at the bottom of the mechanism. Because the positive kinematics solution of CDPMs is a closed loop structure, it is relatively difficult compared with the inverse kinematics solution. In this paper, Newton-Raphson numerical method is used to improve the computational performance of Newton-Raphson matrix and Jacobian matrix by establishing the mapping between Newton-Raphson matrix and Jacobian matrix to obtain the positive kinematics solution. In order to help this process, an algorithm is developed. In addition for the 3-DOF spatial type CDPMs mechanism the inverse solution of computational kinematics is to calculate the length change of the cable for the position of the given platform. Another significant feature of CDPMs is the unidirectionality of the cable which means that the cable can only be pulled but not pushed. Therefore, CDPMs requires redundant drivers to maintain the forward tension of the cable. It is important to ensure proper tension in the CDPMs so that the posture of the mobile platform can be fully constrained by at least one appropriate positive cable tension. In this paper, the force closed loop, zero space method and partition workspace method can be used to obtain the normal tension solution of CDPMs. In addition, the dynamic analysis and control of 3 DOF spatial CDPMs are also covered in this paper. In this paper, a cascade control scheme with internal and external cycles is discussed. The inner ring is used to control the position of the mechanism, while the outer loop controls the tension. In addition, Simulink,SimMechanics and SolidWorks are used for programming, modeling and motion simulation.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH112

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

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本文編號(hào)：2318066