空间平行四边形索环牵引并联机器人设计与仿真分析

doi:10.16039/j.cnki.cn22-1249.2019.11.021

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摘要

基于高层建筑物外墙面维护与定期清洗的实际需求，提出一种6索牵引承载机构的并联机器人设计方案。采用空间平行四边形结构构造索环，并采用4个电机驱动6根绳索，实现承载机构在水平和垂直两个方向的运动要求；建立了索环牵引并联机器人的运动学模型；分析了6根索的长度变化规律。该研究为实现索环牵引并联机器人的运动控制奠定了一定的理论基础。

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	周莉
	李研

关键词: 索环牵引并联机器人运动学分析空间结构四边形结构

Abstract:

A design scheme of carrying mechanism applying 6-cable-driven parallel robot is proposed based on the actual requirements of the outside wall maintenance and cleaning of a high-rise building. The spatial parallelogram structure is adopted to construct the cable-loop, and 4 motors are used to drive 6 cables, which can achieve the movement requirements of the carrying mechanism in both horizontal and vertical directions. The kinematics model of cable-loop driven parallel robot is established. The law of length variation of 6 cables is analyzed. The research lays a theoretical foundation for achieving motion control of the cable-loop parallel robot.

Key words: cable-loop driven parallel robot kinematic analysis spatial structure parallelogram structure

出版日期: 2019-11-25 发布日期: 2019-11-25 整期出版日期: 2019-11-25

TH 138.5

引用本文:

周莉, 李研. 空间平行四边形索环牵引并联机器人设计与仿真分析 [J]. 吉林化工学院学报, 2019, 36(11): 90-94.
ZHOU Li, LI Yan. Design and Simulation Analysis of Spatial Parallelogram Cable-Loop Driven Parallel Robot . Journal of Jilin Institute of Chemical Technology, 2019, 36(11): 90-94.

链接本文:

https://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2019.11.021 或 https://xuebao.jlict.edu.cn/CN/Y2019/V36/I11/90

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