重庆科技大学学报（自然科学版）2025，Vol.27Issue(2)：99-108,10.DOI:10.19406/j.issn.2097-4531.2025.02.012
高空立面条件下绳驱动并联机器人控制研究
On the Control of Rope-Driven Parallel Robot Under High Altitude Elevation Conditions
摘要
Abstract
To enhance the safety and efficiency of high-altitude operations,a parallel robot based on cable drive is proposed.The inverse kinematics of the robot has been analyzed using the vector loop closure method and differen-tial calculus.The dynamic model of the system has been established using the Newton-Euler and Lagrange meth-ods.A fuzzy force/position controller has been designed,which involves real-time monitoring and adjustment of ca-ble tension and end-effector position to precisely control the tension distribution,thereby optimizing the system′s stability and response speed.Simulation results indicate that under the influence of external disturbances and fric-tional forces,the fuzzy force/position controller outperforms the traditional PID controller in terms of precision and stability.关键词
绳驱动并联机器人/动力学模型/张力优化/模糊力/位置控制Key words
cable driven parallel robot/dynamic model/tension optimization/fuzzy force/position control分类
机械制造引用本文复制引用
朱银锋,张成浩,方继根,孙文勇..高空立面条件下绳驱动并联机器人控制研究[J].重庆科技大学学报（自然科学版）,2025,27(2):99-108,10.基金项目
国家自然科学基金面上项目"环氧树脂增韧剂迁移对超导磁体低温绝缘特性的影响机制"(51877001) （51877001）
安徽省高等学校质量工程项目"CAD/CAE/CAM线下课程"(2020KFKC168),"机械设计基础教学团队"(2020JXTD062) （2020KFKC168）
安徽建筑大学校级质量工程项目"精品线下开放课程(CAD/CAE/CAM)"(2020KJ12) （CAD/CAE/CAM）
