考虑滑轮直径的绳系并联机器人精度分析-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Analysis of Accuracy Influence on the Cable-Driven Parallel Robot Including Pulley Diameter

作者:: 冀洋锋1; 林麒2; 彭苗娇3; 吴惠松2; (1.集美大学诚毅学院机械工程系,福建厦门 361021；2.厦门大学航空航天学院,福建厦门 361005；3.集美大学轮机工程学院，福建厦门 361021)

Author(s):: JI Yangfeng1; LIN Qi2; PENG Miaojiao3; WU Huisong2; (1.Chengyi University College,Jimei University,Xiamen 361021,China;2.School of Aerospace Engineering,Xiamen University,Xiamen 361005,China;3.School of Marine Engineering,Jimei University,Xiamen 361021,China)

Keywords:: cable-driven parallel robot; prototype design; accuracy analysis of the prototype; selection of pulleys

摘要:: 为了分析绳系并联机器人模型样机建立过程中各几何参数对样机精度的影响，在搭建实验样机的基础上，得到机构的几何模型，并进一步建立包含滑轮直径的机构几何模型。通过分析滑轮在样机中的更际使用方式，确定滑轮对绳索长度存在影响，进而计算滑轮的存在对动平台位置和姿态精度的影响程度。最后，计算出不同的滑轮半径对绳长误差的基本影响，在此基础上分析滑轮半径与绳长的比值和绳长误差的对应关系。在分析结果的基础上，提出绳系并联机器人机构建立的滑轮选用原则，以期为绳系并联机器人的低速风洞试验应用提供理论支撑和技术支持。

Abstract:: In order to analyze the influence of geometric parameters to the prototype accuracy during the construction of a cable-driven parallel robot (CDPR) prototype,the geometric model of which is obtained after the establishment of a prototype,and the geometric model of the mechanism with the consideration of pulley diameter is established.Secondly,through usage of pulleys in the prototype,the influence of a pulley to cable length is confirmed,and the influence degree of pulleys to positions and attitude angles of the platform is calculated.Finally,the influence of different pulley radius to the error of cable length is calculated,and the influence of the ratio of pulley radius to rope length to the error of cable length is analyzed.Based on the result of the analysis,the selection criteria of pulleys in the establishment of a CDPR prototype is put forward,for the sake of providing theoretical and technical support for the application of cabledriven parallel robot in a low speed wind tunnel test.