华侨大学学报（自然科学版）2009，Vol.30Issue(6)：601-605,5.
6自由度绳牵引并联起重机器人的研究进展
Research Development for 6-Degree-of-Freedom Wire-Driven Parallel Crane Robots
摘要
Abstract
At first the advantages and the applications of wire-driven parallel robots have been pointed out.Thereafter,the classification of wire-driven parallel robots has been given according to the vector-closure principle and the relationship between the number of wires and the number of degree of freedom (DOF) of the motions of the end-effector,and it has been stated that every class of wire-driven parallel robots can be used in cargo handling like a robot crane.Moreover,it has been stated that if each kinematic chain of a 6-DOF wire-driven parallel robot with 3 wires,the mechanism configuration of which belongs to URPMs (underrestrained positioning mechanisms),is added a 1 translational DOF rigid mechanism,it will be a new type 6-DOF robot.The relationship between the mechanism configuration and controllable workspace of the spreader is investigated,and a simple and suitable feedback control scheme for tracking control of trajectories of the spreader is proposed.The definition of this new type of 6-DOF robots is extended and the concept of 6-DOF parallel crane robots containing 3 rigid-and-flexible hybrid subchains is presented,and it has been used in reforming large-sized shipbuilding gantry cranes.关键词
刚柔混合支链/绳牵引/并联机器人/吊具Key words
rigid-and-flexible hybrid subchain/wire-driven/parallel robots spreader分类
机械制造引用本文复制引用
郑亚青..6自由度绳牵引并联起重机器人的研究进展[J].华侨大学学报（自然科学版）,2009,30(6):601-605,5.基金项目
国家自然科学基金资助项目(50805054) （50805054）
中国博士后科研基金资助项目(20090450721) （20090450721）
国家自然科学基金国际(地区)合作与交流项目(50910157) （地区）
