發(fā)布時(shí)間：2021-05-06 19:35

　　本文通過(guò)對(duì)柔索進(jìn)行建模和分析,以評(píng)估繩驅(qū)動(dòng)并聯(lián)機(jī)器人的機(jī)械特性和整體性能。繩驅(qū)動(dòng)并聯(lián)機(jī)器人（CDPR）具有獨(dú)特的性能和優(yōu)點(diǎn),諸如大工作空間尺寸等,得到了廣泛的關(guān)注,適用于現(xiàn)場(chǎng)直播,運(yùn)輸和裝載,易于重新配置和實(shí)施,具有高速運(yùn)動(dòng)特性和高載荷重量,以及良好的運(yùn)動(dòng)精度。靜力學(xué)和動(dòng)力學(xué)分析是實(shí)現(xiàn)并聯(lián)機(jī)器人的更高效率和更廣泛的應(yīng)用的基礎(chǔ)。本研究通過(guò)考慮柔索質(zhì)量,彈性和末端執(zhí)行器的質(zhì)量,研究了繩驅(qū)動(dòng)并聯(lián)機(jī)器人的三維柔索模型,動(dòng)態(tài)運(yùn)動(dòng),靜態(tài)和動(dòng)態(tài)剛度分析。使用拉格朗日方法建立了CDPR的動(dòng)力學(xué)模型。根據(jù)繩驅(qū)動(dòng)并聯(lián)機(jī)器人的靜態(tài)平衡位置評(píng)估靜態(tài)柔索模型�？紤]重力的柔索靜態(tài)變形是非線性的。通過(guò)考慮質(zhì)量和彈性從三維的懸鏈線方程得到柔索的參數(shù)。動(dòng)態(tài)柔索模型是根據(jù)系統(tǒng)靜態(tài)平衡位置的微小變化而確定。根據(jù)靜態(tài)和動(dòng)態(tài)柔索模型,使用fminimax求解器優(yōu)化柔索的張力和柔索長(zhǎng)度,以確定CDPR的靜態(tài)剛度。在系統(tǒng)靜態(tài)平衡狀態(tài)下對(duì)傾斜柔索進(jìn)行建模,并獲得多目標(biāo)非線性方程。采用多目標(biāo)優(yōu)化進(jìn)行柔索模型分析以搜索最優(yōu)解。懸鏈線柔索模型以及液壓缸施加在系統(tǒng)上的外力共同決定了機(jī)器人的整體剛度。CDPR的動(dòng)態(tài)剛度通過(guò)力和自由振動(dòng)以及諧波... 

【文章來(lái)源】：合肥工業(yè)大學(xué)安徽省 211工程院校 教育部直屬院校

【文章頁(yè)數(shù)】：156 頁(yè)

【學(xué)位級(jí)別】：博士

【文章目錄】：
摘要
ABSTRACT
ACKNOWLEDGEMENTS
Nomenclature
Chapter 1 Introduction
    1.1 Theoretical background of CDPRs
        1.1.1 Applications and merits of CDPRs
        1.1.2 Drawbacks of CDPRs
        1.1.3 Types of CDPRs
    1.2 Problem identify and current research focus
        1.2.1 Cable tension analysis
        1.2.2 Stiffness analysis of CDPRs
    1.3 Proposed work and applications
Chapter 2 Modeling and Optimization of Cables
    2.1 Static cable model
        2.1.1 Kinematic model
    2.2 Dynamic cable model
    2.3 Optimization of the cable tension distribution and lengths
    2.4 Summary of the chapter
Chapter 3 Static and Dynamic Stiffness Analysis of CDPRs in Three-Dimensional
    3.1 Static stiffness of cables along all directions
        3.1.1 Static stiffness of cable along x-axis
        3.1.2 Static stiffness of each cable along y-axis
        3.1.3 Static stiffness of each cable along z-axis
    3.2 Dynamic stiffness analyses of the CDPRs
    3.3 Numerical Examples
        3.3.1 Static stiffness of cables
        3.3.2 Results of cable’s dynamic stiffness
    3.4 Summary of the chapter
Chapter 4 Dynamic Analysis of Electrohydraulic Cable-Driven Parallel Robots
    4.1 Dynamic analysis of CDPRs with electrohydraulic actuator
        4.1.1 Hydraulic cylinder
        4.1.2 Drum
        4.1.3 Cable
            4.1.3.1 Cable wound on the drum
            4.1.3.2 Deployed cable
        4.1.4 End-Effector
    4.2 Equations of motion for CDPRs using Lagrange’s method
        4.2.1 Angular position of cableβi with respect to local frame of the cable O_(3i)
        4.2.2 Angular position of CDPRθZ rotates about the fixed frame RG
        4.2.3 Position of cable with respect to local frame of each cable O_(3i)
        4.2.4 Stroke length S of the hydraulic cylinder along Z-axis
    4.3 Results and discussion
        4.3.1 Displacement and velocity along x-axis
        4.3.2 Displacement and velocity along z-axis
        4.3.3 Displacement and velocity of stroke length S
    4.4 Summary of the chapter
Chapter 5 Experimental Validation and Cable Tension Analysis
    5.1 Description of CDPR
    5.2 Static experiments and cable tensions analyses
        5.2.1 Experimental setup
        5.2.2 Results comparison of experimental,ideal and optimal analyses
    5.3 Summary of the chapter
Chapter 6 Conclusions and Future Perspectives
List of Publications
References
Appendix A


【參考文獻(xiàn)】：
期刊論文
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[2]六自由度繩牽引并聯(lián)機(jī)構(gòu)的可達(dá)工作空間分析[J]. 鄭亞青,劉雄偉.  華僑大學(xué)學(xué)報(bào)(自然科學(xué)版). 2002(04)



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