绳索驱动并联机器人的静态与动态特性分析
发布时间：2021-05-06 19:35
本文通过对柔索进行建模和分析,以评估绳驱动并联机器人的机械特性和整体性能。绳驱动并联机器人（CDPR）具有独特的性能和优点,诸如大工作空间尺寸等,得到了广泛的关注,适用于现场直播,运输和装载,易于重新配置和实施,具有高速运动特性和高载荷重量,以及良好的运动精度。静力学和动力学分析是实现并联机器人的更高效率和更广泛的应用的基础。本研究通过考虑柔索质量,弹性和末端执行器的质量,研究了绳驱动并联机器人的三维柔索模型,动态运动,静态和动态刚度分析。使用拉格朗日方法建立了CDPR的动力学模型。根据绳驱动并联机器人的静态平衡位置评估静态柔索模型。考虑重力的柔索静态变形是非线性的。通过考虑质量和弹性从三维的悬链线方程得到柔索的参数。动态柔索模型是根据系统静态平衡位置的微小变化而确定。根据静态和动态柔索模型,使用fminimax求解器优化柔索的张力和柔索长度,以确定CDPR的静态刚度。在系统静态平衡状态下对倾斜柔索进行建模,并获得多目标非线性方程。采用多目标优化进行柔索模型分析以搜索最优解。悬链线柔索模型以及液压缸施加在系统上的外力共同决定了机器人的整体刚度。CDPR的动态刚度通过力和自由振动以及谐波...
【文章来源】：合肥工业大学安徽省 211工程院校 教育部直属院校
【文章页数】：156 页
【学位级别】：博士
【文章目录】：
摘要
ABSTRACT
ACKNOWLEDGEMENTS
Nomenclature
Chapter 1 Introduction
1.1 Theoretical background of CDPRs
1.1.1 Applications and merits of CDPRs
1.1.2 Drawbacks of CDPRs
1.1.3 Types of CDPRs
1.2 Problem identify and current research focus
1.2.1 Cable tension analysis
1.2.2 Stiffness analysis of CDPRs
1.3 Proposed work and applications
Chapter 2 Modeling and Optimization of Cables
2.1 Static cable model
2.1.1 Kinematic model
2.2 Dynamic cable model
2.3 Optimization of the cable tension distribution and lengths
2.4 Summary of the chapter
Chapter 3 Static and Dynamic Stiffness Analysis of CDPRs in Three-Dimensional
3.1 Static stiffness of cables along all directions
3.1.1 Static stiffness of cable along x-axis
3.1.2 Static stiffness of each cable along y-axis
3.1.3 Static stiffness of each cable along z-axis
3.2 Dynamic stiffness analyses of the CDPRs
3.3 Numerical Examples
3.3.1 Static stiffness of cables
3.3.2 Results of cable’s dynamic stiffness
3.4 Summary of the chapter
Chapter 4 Dynamic Analysis of Electrohydraulic Cable-Driven Parallel Robots
4.1 Dynamic analysis of CDPRs with electrohydraulic actuator
4.1.1 Hydraulic cylinder
4.1.2 Drum
4.1.3 Cable
4.1.3.1 Cable wound on the drum
4.1.3.2 Deployed cable
4.1.4 End-Effector
4.2 Equations of motion for CDPRs using Lagrange’s method
4.2.1 Angular position of cableβi with respect to local frame of the cable O_(3i)
4.2.2 Angular position of CDPRθZ rotates about the fixed frame RG
4.2.3 Position of cable with respect to local frame of each cable O_(3i)
4.2.4 Stroke length S of the hydraulic cylinder along Z-axis
4.3 Results and discussion
4.3.1 Displacement and velocity along x-axis
4.3.2 Displacement and velocity along z-axis
4.3.3 Displacement and velocity of stroke length S
4.4 Summary of the chapter
Chapter 5 Experimental Validation and Cable Tension Analysis
5.1 Description of CDPR
5.2 Static experiments and cable tensions analyses
5.2.1 Experimental setup
5.2.2 Results comparison of experimental,ideal and optimal analyses
5.3 Summary of the chapter
Chapter 6 Conclusions and Future Perspectives
List of Publications
References
Appendix A
【参考文献】：
期刊论文
[1]应用于飞行器风洞试验的绳牵引并联机构技术综述[J]. 刘雄伟,郑亚青,林麒. 航空学报. 2004(04)
[2]六自由度绳牵引并联机构的可达工作空间分析[J]. 郑亚青,刘雄伟. 华侨大学学报(自然科学版). 2002(04)
本文编号：3172500
【文章来源】：合肥工业大学安徽省 211工程院校 教育部直属院校
【文章页数】：156 页
【学位级别】：博士
【文章目录】：
摘要
ABSTRACT
ACKNOWLEDGEMENTS
Nomenclature
Chapter 1 Introduction
1.1 Theoretical background of CDPRs
1.1.1 Applications and merits of CDPRs
1.1.2 Drawbacks of CDPRs
1.1.3 Types of CDPRs
1.2 Problem identify and current research focus
1.2.1 Cable tension analysis
1.2.2 Stiffness analysis of CDPRs
1.3 Proposed work and applications
Chapter 2 Modeling and Optimization of Cables
2.1 Static cable model
2.1.1 Kinematic model
2.2 Dynamic cable model
2.3 Optimization of the cable tension distribution and lengths
2.4 Summary of the chapter
Chapter 3 Static and Dynamic Stiffness Analysis of CDPRs in Three-Dimensional
3.1 Static stiffness of cables along all directions
3.1.1 Static stiffness of cable along x-axis
3.1.2 Static stiffness of each cable along y-axis
3.1.3 Static stiffness of each cable along z-axis
3.2 Dynamic stiffness analyses of the CDPRs
3.3 Numerical Examples
3.3.1 Static stiffness of cables
3.3.2 Results of cable’s dynamic stiffness
3.4 Summary of the chapter
Chapter 4 Dynamic Analysis of Electrohydraulic Cable-Driven Parallel Robots
4.1 Dynamic analysis of CDPRs with electrohydraulic actuator
4.1.1 Hydraulic cylinder
4.1.2 Drum
4.1.3 Cable
4.1.3.1 Cable wound on the drum
4.1.3.2 Deployed cable
4.1.4 End-Effector
4.2 Equations of motion for CDPRs using Lagrange’s method
4.2.1 Angular position of cableβi with respect to local frame of the cable O_(3i)
4.2.2 Angular position of CDPRθZ rotates about the fixed frame RG
4.2.3 Position of cable with respect to local frame of each cable O_(3i)
4.2.4 Stroke length S of the hydraulic cylinder along Z-axis
4.3 Results and discussion
4.3.1 Displacement and velocity along x-axis
4.3.2 Displacement and velocity along z-axis
4.3.3 Displacement and velocity of stroke length S
4.4 Summary of the chapter
Chapter 5 Experimental Validation and Cable Tension Analysis
5.1 Description of CDPR
5.2 Static experiments and cable tensions analyses
5.2.1 Experimental setup
5.2.2 Results comparison of experimental,ideal and optimal analyses
5.3 Summary of the chapter
Chapter 6 Conclusions and Future Perspectives
List of Publications
References
Appendix A
【参考文献】：
期刊论文
[1]应用于飞行器风洞试验的绳牵引并联机构技术综述[J]. 刘雄伟,郑亚青,林麒. 航空学报. 2004(04)
[2]六自由度绳牵引并联机构的可达工作空间分析[J]. 郑亚青,刘雄伟. 华侨大学学报(自然科学版). 2002(04)
本文编号：3172500
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