| 大跨度柔索驱动并联机构逆动力学研究 |
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| 引用本文： | 汤奥斐,李言,仇原鹰,孔令飞. 大跨度柔索驱动并联机构逆动力学研究[J]. 机械科学与技术, 2010, 0(4) |
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| 作者姓名： | 汤奥斐 李言 仇原鹰 孔令飞 |
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| 作者单位： | 西安电子科技大学电子装备结构教育部重点实验室;西安理工大学机械与精密仪器工程学院; |
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| 基金项目： | 国家自然科学基金项目(10433020);;教育部留学回国人员实验室基金项目(030401);;优秀博士论文专项基金项目(200535);;校博士启动金项目(102-210802);;陕西省教育厅科学研究计划项目(09JK652)资助 |
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| 摘 要： | 运用集中质量法建立大跨度悬索的力学模型,并基于此模型研究了大射电望远镜中的大型柔索驱动并联机构(wire driven parallel robot,WDPR)的逆动力学问题。首先,确定大跨度悬索的三维收放的动态力学模型,并运用四阶龙格库塔法求解模型的运动控制方程组;接着,确定大跨度WDPR机构的逆动力学算法;最后,通过数值仿真验证WDPR逆动力学模型的合理性。
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| 关 键 词： | 大射电望远镜 柔索驱动并联机器人 逆动力学 集中质量法 四阶龙格库塔 |
Inverse Dynamics of a Long-span Wire Driven Parallel Robot |
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| Tang Aofei,,Li Yan,Qiu Yuanying,Kong Lingfei. Inverse Dynamics of a Long-span Wire Driven Parallel Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2010, 0(4) |
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| Authors: | Tang Aofei Li Yan Qiu Yuanying Kong Lingfei |
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| Affiliation: | Tang Aofei1,2,Li Yan2,Qiu Yuanying1,Kong Lingfei2 |
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| Abstract: | The mechanical model of a long-span cable is built by lumped mass method,and the inverse dynamics of a long-span Wire Driven Parallel Robot(WDPR) for the Large Radio Telescope(LT) is studied based on this cable model.The reel-in and pay-out mechanical model of the cables in 3D for the WDPR was determined,and the control equation of the model was solved by the four order Runge-Kutta algorithm,followed by the determination of the inverse dynamics of the WDPR.Simulation results verify the correctness of the in... |
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| Keywords: | large radio telescope wire driven parallel robot inverse dynamics lumped mass method four order Runge-Kutta algorithm |
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