计算力学学报2016，Vol.33Issue(3)：306-312,7.DOI:10.7511/jslx201603005
绳牵引并联机器人弹性变形对动平台位姿精度的影响
Influence of elastic deformation on pose precision of moving platform for wire-driven parallel robot
摘要
Abstract
Based on the application of 6‐DOF wire‐driven parallel robot in wind tunnel test ,the influence of wires’ elastic deformation on pose precision of moving platform was analyzed .Considering that the wires can only apply tensile forces and no compression ,the system stiffness and dynamic optimization of wire tension should be studied .First ,the system stiffness matrix was derived ,and a target function with stiffness enhancement in the main directions was built to get the dynamic optimization of wire tension . Then ,numerical method was used to acquire the system’s kinematic positive solution ,and the pose error of aircraft caused by deformation and influence of two different kinds of wire modulus on system stiffness was analyzed quantitatively .Research results indicate that taken the stiffness enhancement as the optimal target is good for the improvement of system stability .Moreover ,using wires with larger elasticity modulus can improve the system stiffness effectively ,and reduce the pose error of aircraft caused by wire extension .The above results provide basis and reference for the improvement of mechanisms and high‐precision force‐position hybrid control of system .关键词
绳牵引并联机器人/风洞试验/运动学正解/系统刚度/弹性变形Key words
cable-driven parallel robot/wind tunnel test/kinematic positive solution/system stiffness/elastic deformation分类
信息技术与安全科学引用本文复制引用
王晓光,马少宇,彭苗娇,林麒..绳牵引并联机器人弹性变形对动平台位姿精度的影响[J].计算力学学报,2016,33(3):306-312,7.基金项目
国家自然科学基金（11472234）；中央高校校长基金（2013121019）资助项目． （）
