柔索驅(qū)動(dòng)并聯(lián)機(jī)器人的理論及其應(yīng)用研究.pdf

1、南京航空航天大學(xué)碩士學(xué)位論文柔索驅(qū)動(dòng)并聯(lián)機(jī)器人的理論及其應(yīng)用研究姓名：黃佳怡申請學(xué)位級別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)教師：陳柏201012柔索驅(qū)動(dòng)并聯(lián)機(jī)器人的理論及其應(yīng)用研究iiABSTRACTCabledrivenparallelrobotisanewtypeofrobotwhichlocatesientatesitsendeffectintheexpectedwkspacebycablesinsteadofrodsIthashigh

2、researchvaluesbecauseofitssimplestructure，littleinertia，relativelylightmechanism，rapidmovement，largetranslationalwkspace，easyreconfiguration，lowercostofmanufacturemaintenanceSolotsofresearchersareconcentratedinthecabledr

3、ivenparallelrobotCombinewiththefmerresearchexperience，inthispaper，twodifferentapplicationsofthecabledrivenareresearchedbasedonitstheeticalresearchesThemainwksinthispaperareasfollow：Thebasictheiesofcabledrivenparallelrobo

4、tareanalyzed；includingdegreeoffreedom，kinematics，statics，dynamics，wkspacesolving，singularity，tensionsolving，stiffnesssoontheuniversalbasictheeticalmodelsofcabledrivenareestablished，whicharethefoundationsoftheapplications

5、ofthecabledrivenConsideringinplanarapplicationofthemodelofcabledrivenparallelrobot，theextravehiculartransptrobotmodelisestablishedConsideringitsthreedimensionalapplication，thefootballmatchshootingrobotmodelisestablishedT

6、hentwonovelrobotshavebeendesignedtomeetthesetwoapplications，thentherobotsaresimulatedanalyzedrespectivelyFinally，themechanicalstructurecontrolsystemofcabledrivenparallelrobotaredesigned，theprototypeoftheextravehiculartra

7、nsptrobotisconstructedThetranslationalmotionalongtheplannedtrajectyinplanehasbeensuccessfullycontrolledbytheprototype，whichcanprovesthevalidityofthisresearchwkInthispaper，theuniversaltheiesofcabledrivencanprovidetheetica

8、lbasisfpracticalapplication；twodifferentapplicationsareconsidered；thetwodesignedrobotsprovidecertainreferencevaluespracticalguidancefthedesignofdifferentcombinationofconfigurationfreedomunderdifferentapplicationKeywds：ca