论文标题
通过辅助平衡的电缆驱动的平行机器人的工作区分析和最佳设计
Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots via Auxiliary Counterbalances
论文作者
论文摘要
电缆驱动的平行机器人（CDPR）在全球范围内广泛研究和应用。但是，传统的配置使它们在达到最大工作区二人组的限制中受到限制，例如电缆的最大允许张力。在本文中，我们引入了辅助平衡，以解决此问题，并专注于使用此类系统的CDPR的工作区分析和最佳设计。此外，还提供了运动学，动力学和参数优化公式和算法，以最大程度地提高CDPR的可及工作空间。提出和讨论了不同配置的案例研究。数值结果表明上述方法的有效性，并且所获得的参数也可以用于实际的CDPR设计。
Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable tensions of cables. In this paper, we introduce auxiliary counterbalances to tackle this problem and focus on workspace analysis and optimal design of CDPRs with such systems. Besides, kinematics, dynamics, and parameters optimization formulas and algorithm are provided to maximize the reachable workspace of CDPRs. Case studies for different configurations are presented and discussed. Numerical results suggest the effectiveness of the aforementioned approaches, and the obtained parameters can also be applied for actual CDPRs design.
