冗余缆索驱动并联机器人抗摆特性研究

2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC) Pub Date : 2017-03-01 DOI:10.1109/IAEAC.2017.8054264

L. Wei, Tao Limin, Ji Zhengnan

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引用次数: 2

摘要

为了补偿海上补给作业中船舶与大尺寸或重量集装箱之间的6自由度相对运动，设计了一种具有抗摆动特性的6自由度有源波浪补偿索驱动并联机器人。在补货作业中补偿货物的六自由度运动，保持货物平衡。介绍了缆索驱动并联机器人的结构和工作原理。建立了运动学和动力学模型。阐述了机器人的摆动抑制原理。揭示了机器人尺寸与抗摆动工作空间之间的关系。最后，实现了抗摆动工作空间的仿真研究。

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Research on anti-swing characteristic of redundancy cable-driven parallel robot

In order to compensate 6-DOF relative motion between the ship and large size or weight containers in replenishment operation at sea, a 6-DOF active wave compensation cable-drive parallel robot with anti-swing was designed. It could compensate the 6-DOF motion of cargo and maintain the cargo balance in replenishment operation. The structure and working principle of the cable-drive parallel robot was introduced. The kinematics and dynamics model was established. Swing inhibition principle of the robot was elaborated. The relationship between the robot size and anti-swing workspace was revealed. At last, the simulation study of anti-swing workspace was realized.

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2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)

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