[1]王克义,孟浩,张立勋,等.平面绳索牵引并联机器人静态刚度[J].哈尔滨工程大学学报,2011,(09):1112-1116.[doi:doi:10.3969/j.issn.1007-7043.2011.09.003]
 WANG Keyi,MENG Hao,ZHANG Lixun,et al.Static stiffness of a plane wire-driven parallel robot[J].hebgcdxxb,2011,(09):1112-1116.[doi:doi:10.3969/j.issn.1007-7043.2011.09.003]
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平面绳索牵引并联机器人静态刚度(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2011年09期
页码:
1112-1116
栏目:
出版日期:
2011-09-25

文章信息/Info

Title:
Static stiffness of a plane wire-driven parallel robot
文章编号:
1006-7043(2011)09-1112-05
作者:
王克义孟浩张立勋郭培培
1.哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001; 2. 哈尔滨工程大学自动化学院,黑龙江哈尔滨150001
Author(s):
WANG Keyi MENG Hao ZHANG Lixun GUO Peipei
1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China; 2. College of Automation, Harbin Engineering University, Harbin 150001, China
关键词:
1R2T绳索牵引并联机器人静态刚度有限元法
分类号:
TP242
DOI:
doi:10.3969/j.issn.1007-7043.2011.09.003
文献标志码:
A
摘要:
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.

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相似文献/References:

[1]张立勋,刘攀,王克义,等.绳索牵引并联康复机器人的建模与控制[J].哈尔滨工程大学学报,2009,(01):81.
 ZHANG Liuxun,LIU Pan,WANG Keyi,et al.Modeling and control of a wire-driven parallel rehabilitation robot[J].hebgcdxxb,2009,(09):81.
[2]王克义,郭钽,张立勋,等.绳索牵引康复机器人运动误差及仿真分析[J].哈尔滨工程大学学报,2008,(11):1210.
 WANG Ke-yi,GUO Tan,ZHANG Li-xun,et al.The simulation and movement errors analysis of wire-driven rehabilitative robots[J].hebgcdxxb,2008,(09):1210.

备注/Memo

备注/Memo:
高等学校博士学科点专项科研基金资助项目(20102304120007);黑龙江省自然科学基金资助项目(QC2010009);博士后基金资助项目(20110491030; LRB10-168);中央高校基本科研业务费专项资金资助项目(HEUCF110706)
更新日期/Last Update: 2011-09-29