Optimization of a planar tendon-driven parallel manipulator for a maximal dextrous workspace

In this article, new methodologies for determining the tension distribution and optimal configurations of planar tendon-driven parallel manipulators (TDPMs) are presented. TDPMs are characterized by the use of cables in place of the linear actuators used in most parallel manipulators. Three separate, but inter-related topics are examined in this article, and methodologies for addressing them are proposed. The first is the determination of cable forces for overconstrained tendon-driven manipulators, which is necessary in order to address the second topic, namely, the development of a methodology for workspace determination of tendon-driven manipulators. The final topic examined is the dimensional synthesis of tendon-driven manipulators for a large dextrous workspace. The numerical methodologies developed here have potential for easy application to more complex spatial cases.     

柔性Stewart平台的动力学建模与控制

根据KED原理建立了柔性支腿Stewart平台的动力学模型.针对该机构为一非线性、慢时变、强耦合、多输入多输出等特点,提出了一种基于优化神经网络结构的PID控制算法来实现大射电望远镜馈源高精度轨迹跟踪.理论分析和仿真结果表明,该控制算法不仅能满足馈源轨迹跟踪高精度要求,而且具有较强的鲁棒性.     

Scientific and methodological foundations for determining the angular motion of a rocket using a four-lined gyrostabilized platform

The present article considers models of four-lined gyrostabilized platforms (GSP) and alternative positions of the measuring elements that make it possible to create inertial reference systems on gyrostabilized platforms and construct relationships between the coordinate systems of the platform. The models also make it possible to calculate the angular relocation of a rocket in inertial space with the use of readings of the turning angle sensors of the GSP gimbals. __________ Translated from Izmeritel’naya Tekhnika, No. 12, pp. 21–25, December, 2007.