针对目前大跨度柔索驱动并联机构的研究将悬索简化为直线，导致其工作空间不够准确，该研究在考虑柔索悬垂效应的基础上对工作空间进行研究。首先建立悬链线悬索模型和抛物线悬索模型，通过试验和仿真对比表明，在相同外部条件下，抛物线悬索模型得到的悬索长度比悬链线悬索模型更贴近试验。基于抛物线悬索模型，建立立面柔索驱动并联机构静力学方程，分析了考虑悬索垂度的工作空间和空间各点上的总功率。仿真结果表明，相比于直线悬索模型下的立面柔索驱动并联机构，基于抛物线悬索模型具有拉力条件的工作空间范围减少了12.6%，而移动平台横向运动时的低能耗区域明显小于竖向运动时的低能耗区域。
Abstract
Here, aiming at suspension cable being simplified to a straight line in current study on large-span flexible cable-driven parallel mechanism to cause its workspace being incorrect, considering flexible cable suspension effect, the workspace of the mechanism was studied.Firstly, a catenary suspension model and a parabolic suspension model were established.Comparison between test and simulation showed that under the same external conditions, the suspension length obtained with the parabolic suspension model is closer to test result than that obtained with the catenary suspension model.Based on the parabolic suspension model, static equations of a facade flexible cable-driven parallel mechanism were established, workspace and total power at each point in space considering suspension sag were analyzed.The simulation results showed that compared to the facade flexible cable-driven parallel mechanism under the linear suspension model, the workspace range with tension conditions based on the parabolic suspension model decreases by 12.6%, and the low-energy consumption area during lateral motion of mobile platform is significantly smaller than that during vertical motion.
关键词
悬索模型 /
柔索驱动 /
工作空间 /
能耗
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Key words
catenary model /
cable-driven /
workspace /
power consumption
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