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针对常规混合驱动柔索并联机构不能缠绕且工作空间较小的问题,提出了一种可缠绕混合驱动柔索并联机构。首先,确定了此并联机构的虚拟样机结构;然后,对结构的动力学进行了整体分析,基于拉格朗日方程,建立了系统动力学模型;最后,结合具体实例,利用Simulink软件对机构的工作情况进行仿真。结果表明,可缠绕柔索并联机构设计合理,输入参量可以根据系统要求实时变化,并且能够得到足够大的工作空间,为可缠绕混合驱动柔索并联机构的进一步物理样机研究提供了理论依据。
Aiming at the problem that the conventional hybrid drive flexible parallel mechanism can not be wound and the working space is small, a parallel winding hybrid drive flexible cable parallel mechanism is proposed. First of all, the virtual prototyping structure of the parallel mechanism is determined. Then, the overall dynamics of the structure is analyzed, and the system dynamics model is established based on the Lagrange equation. Finally, with the concrete examples, Work situation simulation. The results show that the design of the flexible cable parallel mechanism is reasonable, the input parameters can be changed in real time according to the system requirements, and a sufficient working space can be obtained, which provides a theoretical basis for the further physical prototype study of the hybrid cable - driven parallel cable mechanism.