摘要
提出一种八索并联机构来实现任意定方向矢量力的输出,完成对火箭发射推力的实时模拟.首先通过运动学建模和受力分析,得到八索并联机构的动力学方程.在建立定方向矢量力输出模型的基础上,采用力封闭的索力优化计算理论,对输出定方向矢量力时的机构索力进行了优化求解.最后,分别研究了终端输出不同矢量力时的索力变化规律,并在八索并联机构实验装置上实现定方向矢量力的输出,验证了理论研究的正确性.
A parallel mechanism driven by 8 cables is presented to output vector force in an arbitrary constant direction for simulating rocket thrust in real time. By kinematics modeling and force analysis, dynamical equations of 8 cables in the presented mechanism are proposed. Based on constant-direction vector force output model, the cable tensions when outputting constant-direction vector force are calculated with the closed-form cable-force optimization theory. The rules of tension distribution when outputting vector forces with different values in various directions are proposed. In addition, constant-direction vector force is output by the experimental setup of 8-cable parallel mechanism, which demonstrates the rationality of the theoretical research.
出处
《机器人》
EI
CSCD
北大核心
2015年第6期641-647,共7页
Robot
基金
国家自然科学基金(51475252
51405024)
清华大学自主科研计划(2014z22068)
关键词
索并联机构
定矢量力输出
索力优化
索力控制
cable parallel mechanism
constant vector force output
tension optimization
cable force control
