[1]刘树青,吴洪涛.一种用于风洞的新型柔索驱动并联机构设计[J].南京理工大学学报(自然科学版),2004,(06):601-605.
 LIU Shu-qing,WU Hong-tao.Design of New Wire-driven Parallel Kinematic Manipulator for Wind Tunnels[J].Journal of Nanjing University of Science and Technology,2004,(06):601-605.
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一种用于风洞的新型柔索驱动并联机构设计()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2004年06期
页码:
601-605
栏目:
出版日期:
2004-12-30

文章信息/Info

Title:
Design of New Wire-driven Parallel Kinematic Manipulator for Wind Tunnels
作者:
刘树青1 吴洪涛2
1. 南京工程学院教育培训部, 江苏南京210013; 2. 南京航空航天大学
机电学院, 江苏南京2
Author(s):
LIU Shu-qing 1WU Hong-tao 2
1.Department of Computer Numerical Control Trainning,Nanjing Institute of Technology,Nanjing 210013,China;2.College of Mechanical and Electronic Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China
关键词:
并联机构 柔索驱动 工作空间 正交补
Keywords:
parallel kinematic manipulatorwire-driven architecture controllable workspace nullspace
分类号:
TH112
摘要:
该文阐述了柔索驱动并联机构的特点及其潜在的应用范围 ,提出了一种新型的六自由度柔索驱动并联机构的结构形式。采用几何方法给出了该机构的构型设计过程 ,建立了该机构的数学模型 ,并进行位置分析和静力学分析 ;在此基础上利用正交补的方法 ,给出工作空间的判别条件 ;最后在Mathematica环境下编程进行仿真 ,获得了该机构工作空间的数值表示。
Abstract:
This paper presents the characteristics and potential application fields of wire-driven manipulator, deals with the architecture design and kinematic analysis of a 6 DOF ( dimension of freedom) wire-driven parallel kinemat ic manipulator. This paper gives the procedure of architecture design using geometrical method , presents the inverse kinematic and static analysis with the kinemat ic model of this manipulator. Based on these, the second part gives the condition of whether a pose is in the contro-l lable workspace using nullspace method. Finally, this paper demonstrates the controllableworkspace of the manipulator using the condition under Mathematica environment. The simulated result is the numerical expression of the controllable workspace.

参考文献/References:

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[ 2] Albus J, Bostelman R, Dagalakis N. The nist robocrane[ J] . Journal of National Institute of Standards and Technology, 1992, 97( 3) : 32~ 37.
[ 3] Kawamura S, Kino H, Won C. High-speed manipulation by using parallel wire- driven robots[ J] . Robotica, 2000, 40( 2) : 13~ 21.
[ 4] Zheng Ya- qing, Liu Xiong-wei. Force transmission index based workspace analysis of a six DOF wire- driven para-l lel manipulator[ A] . Proceedings of DETC℃ 02 ASME 2002 Design Engineering Technical Conferences and Comput-ers and Information in Engineering Conference[ C] . Montreal, Canada: ASME, 2002. 56~ 61.
[ 5] 仇原鹰, 魏强, 段宝岩, 等. 冗余度大型射电望远镜广义Stewart 平台[ J] . 机械工程学报, 2001, 37( 12) : 20~ 25.
[ 6] Ming A,Higuchi T. Study on multiple degree of freedom positioning mechanisms using wires ( Part I) : Concept, design and control[ J] . International Journal of the Japan Society for Precision Engineering, 1994, 29( 6) : 131~ 138.

备注/Memo

备注/Memo:
作者简介: 刘树青( 1973- ) , 女, 河北柏乡人, 硕士, 主要研究方向: 机电控制及机械多体系统, E-mail:liushuqing@ 126. com。
更新日期/Last Update: 2013-03-11