以平面绳索牵引并联机器人为对象,对动平台的静态刚度进行理论分析和仿真研究.针对平面1R2T绳索牵引机构模型,建立系统静态力螺旋平衡方程,通过微分变换推导动平台静态刚度表达式,得出影响系统静态刚度的因素为绳索拉伸刚度和绳索拉力,且两者的影响是相互耦合的.通过有限元软件ANSYS建立了平面绳索牵引并联机器人模型,根据等效静态刚度定义,仿真了不同绳索布置方案和不同绳索最小拉力情况下动平台的静态刚度,得出在绳索最小拉力较小时,随着绳索最小拉力的增大,动平台的等效静态刚度增大,绳索拉力对系统静态刚度影响作用表现明显;而绳索最小拉力增大到一定程度时,其几乎无影响作用.%In this paper, the static stiffness of the wire-driven 1R2T parallel robot was analyzed theoretically, and simulation research was carried out. To obtain the theoretical model of wire-driven mechanisms, a balance equation of static spiral forces was built, and the static stiffness expression was derived by the method of differential transformation. After that, it was found that the factors affecting the static stiffness were the stiffness of the wires and the coupling forces on them. The robot model was built by ANSYS. Several schemes of laying wires and the forces on them were designed to analyze their influence on the stiffness. The equivalent static stiffness increased with the increase of the minimum force on the wires, and hardly changed after the minimum force reached the definite degree. The results in this paper provide guidance for analyzing the position accuracy and motion control of a wire-driven system.
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