4-1型柔索驱动并联机器人稳定性度量及其灵敏度分析

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摘要 4-1型柔索驱动并联机器人性能优越具有较好的应用潜力，但评价并保证机器人末端执行器的稳定性任务艰巨。为此，本文对4-1型柔索驱动并联机器人的稳定性度量方法进行研究，提出一种融合机器人末端执行器位置和约束力影响因子的稳定性度量方法及其指标；建立4-1型柔索驱动并联机器人稳定性灵敏度分析模型，探索并分析末端执行器位置和柔索驱动力等因素对机器人稳定性的影响程度，提出采用关联度研究和分析末端执行器位置和柔索驱动力等参数对机器人稳定性的影响程度。以4索驱动拣矸机器人为例，对所建立的稳定性度量模型及其敏感度分析模型进行仿真研究，得出了能够保证拣矸机器人末端抓斗满足预定稳定性要求的位置点集；稳定性敏感度研究结果表明：拣矸机器人稳定性对驱动力影响因素的敏感度较大，关联度为0.9387-0.9647；其次为位置影响因素，关联度为 0.5439-0.7743。

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	刘鹏1
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	曹现刚1
	张旭辉1
	乔心州1

关键词 ：（小五黑体）柔索驱动并联机器人, 点质量, 稳定性, 灵敏度

Abstract：A 4-1 cable-driven parallel robot (CDPR) has excellent performance and good application potential, but it is crucial to evaluate and ensure the stability of the robot. Therefore, in this paper, the stability measure method of the robot is investigated, and furthermore, a stability measurement method with the position influencing factors and the cable tension influencing factors is proposed. The stability sensitivity analysis model for the robot is established, and the influence degree of the positions of the end-effector and cable tensions on the stability is explored and analyzed. The correlation degree is proposed to investigate and measure the influence degree of the factors on the stability for the robot. The presented stability evaluation model and sensitivity analysis model are simulated on a cable-driven gangue sorting robot, and the position set of the end-effector where the end-effector meets the predetermined stability requirements is obtained. The results show that the stability of the cable-driven gangue sorting robot is sensitive to the cable tensions, and in more detail, the correlation degrees of the cable tensions are 0.9387-0.9647; and while, the correlation degrees of the positons of the end-effector are 0.5439-0.7743.

Key words： cable-driven parallel robot point mass stability sensitivity

收稿日期: 2022-04-12 出版日期: 2023-07-28

引用本文:

刘鹏1,2，曹现刚1，张旭辉1，乔心州1. 4-1型柔索驱动并联机器人稳定性度量及其灵敏度分析[J]. 振动与冲击, 2023, 42(14): 180-188.
LIU Peng1,2,CAO Xiangang1,ZHANG Xuhui1,QIAO Xinzhou1. Stability and sensitivity of a 4-1 type cable-driven parallel robot. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(14): 180-188.

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http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I14/180

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