| 索杆混合驱动并联机构的索拉力和刚度分析 |
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| 引用本文： | 高征,李亚杰. 索杆混合驱动并联机构的索拉力和刚度分析[J]. 机床与液压, 2021, 49(22): 29-33 |
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| 作者姓名： | 高征 李亚杰 |
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| 作者单位： | 河北大学电子信息工程学院,河北保定071000 |
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| 基金项目： | 国家自然科学基金青年科学基金项目（61903119）；河北省自然科学基金项目（F2019201088）；河北省引进留学人员资助项目（C20190319） |
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| 摘 要： | 分析一种索杆混合驱动并联机构的绳索拉力和刚度。考虑绳索单向受力和直线电机双向受力的特性，对机构动平台的位姿进行力学分析，得到关于绳索拉力与直线电机推力的关系式。通过规划动平台运动轨迹，得到绳索拉力与电机推力的分布曲线。结合刚度定义、机构结构参数和柔索拉力之间的关系，推导出并联机构的刚度矩阵模型；通过MATLAB仿真得到刚度评价指标，总结刚度在机构工作空间中的分布规律。
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| 关 键 词： | 索杆混合驱动 并联机构 拉力分析 刚度分析 |
Cable Tension and Stiffness Analysis of Cable Rod Hybrid Driven Parallel Mechanism |
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| GAO Zheng,LI Yajie. Cable Tension and Stiffness Analysis of Cable Rod Hybrid Driven Parallel Mechanism[J]. Machine Tool & Hydraulics, 2021, 49(22): 29-33 |
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| Authors: | GAO Zheng LI Yajie |
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| Abstract: | The cable tension and stiffness of a cable rod hybrid driven parallel mechanism were analyzed. Considering the unidirectional force of the cable and the bidirectional force of the linear motor, the mechanical analysis of the position and posture of the moving platform of the mechanism was carried out, and the relationship between the cable tension and the thrust of the linear motor was obtained. The stiffness matrix model of the parallel mechanism was derived by combining with the definition of stiffness, the relationship between the structural parameters of the mechanism and the tension of the flexible cable; the stiffness evaluation index was obtained through MATLAB simulation. The distribution law of the stiffness in the working space of the mechanism was summarized. |
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