绳牵引并联机构的工作空间优化

采用一种简单的绳拉力计算算法,提出比例系数、质量系数和全局质量系数来衡量工作空间的大小和形状。并针对1个CRPM和1个RRPM的3R3T绳牵引并联机构,比较其动平台处于同一主位姿时工作空间的大小和形状。结果表明:CRPM的平动工作空间比RRPM的大,而转动工作空间比RRPM的小;CRPM的转动工作空间的全局质量比RRPM的大,而平动工作空间的全局质量比RRPM的小。可见,可根据预定的工作空间的大小和形状,通过改变构型配置和机构尺寸来获得优化的构型。

Research on Workspace Optimization of Wire-driven Parallel Manipulators

A simple tension calculation algorithm as well as a ratio index, a quality index, and a global quality index is proposed to measure the size and shape of the workspace of wire-driven parallel kinematic manipulators. Theoretical results are used to compare the sizes and shapes of the workspaee at the home posture of two manipulators in the 3R3T class. One is CRPM, and another is RRPM. The comparison resuits show that the positional workspaee of CRPM is bigger than that of RRPM, and the rotational one of CRPM is smaller than that of RRPM. The global quality of the rotational workspace of CRPM is better than that of RRPM, and the global quality of the positional workspaee of CRPM is smaller than that of RRPM. By changing the mechanism configuration and the dimension to satisfy the required sizes and shapes of the workspaee, an optimal manipulator can be obtained. Indeed, the 3R3T class is different from others in that auto-collisions play a central role. Thus, the question of optimal manipulators in the class is open.