等效模型的索牵引并联机器人的刚度分析.pdfVIP

28 卷 5 期 Vol.28 No.5 工 程 力 学 20 11 年 5 月 May 20 11 ENGINEERING MECHANICS 194 文章编号：1000-4750(2011)05-0194-06 基于等效模型的索牵引并联机器人的刚度分析 *杜敬利，保 宏，崔传贞 (西安电子科技 学电子装备结构教育部重点实验室，西安 710071) 摘 要：现有索牵引并联机器人研究中，由于柔索长度较短大多将其处理成仅能受拉的直线索单元，没有考虑柔 索垂度的影响，刚度分析过程与刚性支腿并联机器人相同。为考虑垂度影响，该文采用悬链线方程建立了大跨度 柔索的静力学模型，推导出柔索的刚度矩阵。然后提出了一种刚度等效模型，将柔索等效为三根两两相互垂直的 弹簧。于是便可将索牵引并联机器人等效为弹簧支撑并联机器人，从而利用现有的刚度分析结论即可完成大跨度 索牵引机器人的刚度分析。最后，以大射电望远镜的索支撑系统为例研究了其刚度特性。 关键词：索牵引机器人；刚度分析；悬链线；刚度等效；静力学 中图分类号：TP242 文献标识码：A STIFFNESS ANALYSIS OF CABLE-DRIVEN PARALLEL MANIPULATORS USING EQUIVALENT MODEL * DU Jing-li , BAO Hong , CUI Chuan-zhen (Ministry of Education Key Laboratory of Electronic Equipment Structure Design, Xidian University, Xi an 710071, China) Abstract: In most of the analysis of cable-driven parallel manipulators composed of relatively short cables, cables are treated as linear elements that can only be tensioned, and the sag effects due to their self-weight cannot be considered. As a result, the stiffness analysis procedure is the same as that of rigid-link parallel manipulators. In this paper, the static model for long-span cables is constructed using catenary equation to account for the sag effects, and the stiffness matrix of a cable is deduced. An equivalent model in the stiffness sense is presented, in which a cable can be replaced by 3 springs perpendicular to each other. Then a cable-driven parallel manipulator is equivalent to its relative rigid-link counterpart. The stiffness matrix of a long-span cable-driven manipulator can be obtained by referring to the available conclusions of the stiffness analysis. The stiffness of the cable-supporting system for a large radio telescope is p