一种刚柔混合绳驱并联机构设计与性能分析

Design and Performance Analysis of Rigid Flexible Hybrid Cable Driven Parallel Mechanism

摘要:

针对绳驱并联机构单向受力的特点,本文提出一种以3 RPS 支链为约束的刚柔混合绳驱并联机构,机构中绳索支链可根据工作空间需要调整方位。阐述了机构运动原理,设计了其三维结构,建立了运动学模型及静力学模型,通过理论计算和仿真对比验证了驱动索力的正确性;基于力学模型计算了机构力封闭可达工作空间,并分析了影响工作空间主要结构参数;推导了机构雅可比矩阵,分别以雅可比矩阵行列式、条件数、刚度矩阵二范数为指标分析了机构奇异位形、灵巧度和刚度等性能指标,研究结果为机构推广应用奠定理论基础。

Abstract:

A rigid flexible hybrid cable driven parallel mechanism (CDPM) constrained by 3 RPS branches was proposed to overcome the limitation of unidirectional force characteristic in traditional cabledriven parallel mechanisms. In this configuration, the direction of cable branches can be flexibly adjusted according to the desired workspace requirements. The motion principle of the mechanism was firstly described, followed by the design of its three-dimensional structure. Both kinematic and static models were then systematically established. The correctness of the driving cable force was confirmed through comparative analysis between theoretical computations and simulation outcomes. Subsequently, based on the developed mechanical model, the force closure reachable workspace of the mechanism was calculated, and the main structural parameters that affected the workspace were investigated in depth.Furthermore, the Jacobian matrix of the mechanism was derived. And the performance indicators such as singular configuration, dexterity, and stiffness of the mechanism were analyzed by using the determinant of the Jacobian matrix, condition number, and two norm of the stiffness matrix as indicators. The findings established a solid theoretical basis for further development and practical application of the proposed mechanism.