索杆式风电叶片检测装置的运动学分析

针对现有的风电叶片检测装置存在的缺陷，设计了一种由索杆混联结构驱动的风电叶片检测装置。首先，简述了该装置的零部件组成、独特的结构设计以及工作方式。其次，对其核心部件--索杆式检测平台进行了运动学分析，研究了检测平台上动平台的位姿与驱动绳索、驱动液压缸长度之间的关系以及动平台的4条驱动支链在指定运动过程中速度的变化，即针对检测平台的动平台和定平台分别建立了动坐标系和定坐标系，分别利用Newton-Raphson迭代法和空间向量分析法得出了并联检测平台的运动正反解模型，并且通过分析法推导出机构的速度雅克比矩阵。最后通过MATLAB编程，进行了正反解数值计算，通过位置反解验证了Newton-Raphson迭代法的正确性并绘制出驱动支链的运动变化曲线，为后续该检测装置工作空间及其实时控制的研究打下了理论基础。

Kinematics analysis of detection device of cable-link wind turbine blades

In view of the defects existing in the detection device of wind turbine blades, a cable-link detection device is designed. Firstly, the components, special structural design and working method of the device were briefly introduced. Secondly, the kinematics analysis for the core part-cable-link detection platform was carried out to study the relationship between the pose of the moving platform on the detection platform and the length change of the driving ropes and the driving hydraulic cylinder, and the velocity variation of the branched chains of the moving platform in a specific movement process. The moving coordinate system and the fixed coordinate system were established on the moving platform and the fixed platform, the forward and inverse kinematics analysis models of the parallel detection platform were obtained by Newton Raphson iteration and space vectors method, respectively. The velocity Jacobian matrix of the mechanism was deduced by analytical method. Finally, the detailed numerical calculation was carried out through MATLAB programming, the correctness of Newton Raphson iteration was verified by inverse kinematics analysis and the velocity variation curve of branched chains was plotted, which laid a theoretical foundation for the research on workspace and real time control of the detection device.