CAJ | 학술논문

针对6自由度大跨度绳索牵引并联机器人存在绳索悬链线效应的问题，分别建立了绳索的直线模型和绳索的悬链线模型，在此基础上推导了并联机器人的动力学模型，并对二者进行分析和比较。在绳索牵引并联机器人逆动力学的求解过程中，采用带约束的非线性优化方法作为求解工具来计算满足绳索单向力约束的绳索张力。仿真结果表明，考虑绳索的悬链线模型时，并联机器人逆动力学解得到的绳索末端张力与绳索的线性模型相比有很大的变化，故绳索悬链线效应不可忽略，动力学分析中必须加入绳索的悬链线模型。
침대6자유도대과도승색견인병련궤기인존재승색현련선효응적문제，분별건립료승색적직선모형화승색적현련선모형，재차기출상추도료병련궤기인적동역학모형，병대이자진행분석화비교。재승색견인병련궤기인역동역학적구해과정중，채용대약속적비선성우화방법작위구해공구래계산만족승색단향력약속적승색장력。방진결과표명，고필승색적현련선모형시，병련궤기인역동역학해득도적승색말단장력여승색적선성모형상비유흔대적변화，고승색현련선효응불가홀략，동역학분석중필수가입승색적현련선모형。
For the catenary effect on the large‐scale of 6‐DOF cable‐driven parallel robot ,the straight‐line model and the catenary model of the cables were established ,respectively ,on the basis of which , the dynamic model of the cable‐driven parallel robot was derived and the models were compared at the same time .In order to solve the inverse dynamics of the cable‐driven parallel robot ,a nonlinear optimization method with constraints was chosen to obtain the cable tension that satisfies the force constraints . Simulation experiment demonstrated that when considering the catenary model , the inverse dynamical solution differs noticeably between the straight line model and the catenary model of the parallel robot . Thus the catenary effect cannot be ignored and the catenary model should be considered in the dynamic analysis .