| 摘要: |
| 传统吊装系统需求整体空间较大，或调整位姿方向单一，无法保证在一定空间限制下驱使物体发生多自由度运动。本文提出一种采用八条绳索驱动的并联机构，能够实现X、Y、Z方向的平移和绕X、Y、Z轴转动的六个自由度。分析了该机构的运动原理。采用闭环矢量法求解物体运动时各个绳索的长度，根据螺旋理论，建立静力平衡方程计算各个绳索的受力，并且对结构尺寸进行尺度优化，实现最小驱动力下的机构最大承载能力。 |
| 关键词: 并联机构 绳索驱动 闭环矢量法 尺度优化 |
| 基金项目: |
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| Kinematics Analysis and Scale Optimization of An Eight Wire Driven Parallel Attitude Adjusting Lifting Mechanism |
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Li Haixin
Xu Chunguang
Di Gaolei
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Tianjin Aerospace Institute of Electrical and Mechanical Equipment, Tianjin 300458
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| Abstract: |
| Traditional lifting systems require large overall space or a single direction for adjusting posture, which cannot ensure that objects can move with multiple degrees of freedom under certain space constraints. Therefore, this paper proposes a parallel mechanism driven by eight ropes, which can achieve translation in the X, Y, and Z directions and six degrees of freedom for rotation around the X, Y and Z axis. The kinematic principle of the mechanism is analyzed. The closed loop vector method is used to solve the length of each rope when the object is moving. According to the screw theory, a static balance equation is established to calculate the force on each rope, and the structural dimensions are optimized to achieve the maximum load-bearing capacity of the mechanism under the minimum driving force. |
| Key words: parallel mechanism rope drive closed loop vector method scale optimization |
