冗余并联柔索机构姿态工作空间的研究

摘要

A redundant wire—driven parallel manipulator is applied to wind tunnel test of air vehicle model, and the workspace is an important index on evaluating work ability of the redundant wire —driven parallel manipulator and an important basis of the parallel mechanism design.Based on the algorithm non-singular workspace, an algorithm for orientation workspace of the redundant wire-driven parallel manipulator is analyzed,and practical orientation workspace is proposed.Examples for nonsingular orientation workspace and practical orientation workspace of a redundant wire-driven parallel manipulator are given to demonstrate these theoretical results by the computer simulation,and the important theory could be applied to the redundant wire-driven parallel manipulator.%将冗余并联柔索机构应用于飞行器模型的风洞试验,而工作空间是评价冗余并联柔索机构工作能力的一个重要指标,是并联机构设计的重要基础.分析了该冗余并联柔索机构的姿态工作空间的算法,基于此算法提出了机构的非奇异工作空间和实际姿态工作空间的概念及其相应的算法.通过计算机仿真给出了一个具体的冗余并联柔索机构的非奇异姿态工作空间和实际姿态工作空间的三维可视化描述,为该冗余并联柔索机构的设计和使用提供了一些理论依据.