绳驱动并联机器人绳索拉力及工作空间求解方法研究

摘要

The complexity in solving the rope tension , which results from the driven redundancy of a wire-driven parallel robot , and workspace are important indicators of the system .The unified model of statics and dynamics was established in this paper .The optimization algorithm for solving the rope tension and the solution method of work-space were studied .The rope tension and the workspace of the 4 wire-driven rehabilitative robot were obtained by MATLAB simulation .The correctness of optimization method for solving the rope tension and workspace calculation method of the wire-driven parallel robot was verified .%绳驱动并联机器人的驱动冗余性导致绳索拉力的求解复杂性、工作空间成为系统的重要指标。文中建立了机器人系统静力学和动力学的统一模型，对绳索拉力求解优化算法以及工作空间求解方法进行研究，通过MATLAB仿真求得了4根绳驱动康复机器人系统驱动绳索拉力和工作空间，验证了绳驱动并联机器人绳索拉力优化求解方法和工作空间计算方法的正确性。