于亮亮, 仇原鹰, 苏宇. 高速柔索牵引摄像机器人动力工作空间研究[J]. 工程力学, 2013, 30(11): 245-250. DOI: 10.6052/j.issn.1000-4750.2012.07.0543
引用本文: 于亮亮, 仇原鹰, 苏宇. 高速柔索牵引摄像机器人动力工作空间研究[J]. 工程力学, 2013, 30(11): 245-250. DOI: 10.6052/j.issn.1000-4750.2012.07.0543
YU Liang-liang, QIU Yuan-ying, SU Yu. DYNAMIC WORKSPACE OF A HIGH-SPEED CABLE-DRIVEN CAMERA ROBOT[J]. Engineering Mechanics, 2013, 30(11): 245-250. DOI: 10.6052/j.issn.1000-4750.2012.07.0543
Citation: YU Liang-liang, QIU Yuan-ying, SU Yu. DYNAMIC WORKSPACE OF A HIGH-SPEED CABLE-DRIVEN CAMERA ROBOT[J]. Engineering Mechanics, 2013, 30(11): 245-250. DOI: 10.6052/j.issn.1000-4750.2012.07.0543

高速柔索牵引摄像机器人动力工作空间研究

DYNAMIC WORKSPACE OF A HIGH-SPEED CABLE-DRIVEN CAMERA ROBOT

  • 摘要: 首先,提出了一种基于最小二范数的高速柔索牵引摄像机器人的索力快速优化算法;其次,基于集合理论得到了动力工作空间的一致求解策略;进而,仿真计算了给定结构参数下的机器人动力工作空间,并结合机器人沿工作空间顶面特定曲线运行时索长及索力的变化规律,对工作空间顶面形成的原因进行了分析;最后,借助工作空间底面剖视图研究了机器人工作空间底面的可达区域与支撑杆高度的影响关系,得出合理选取支撑杆高度的依据。

     

    Abstract: Firstly, a quick optimal arithmetic of the tensions for the high speed cable-driven camera robot is proposed based on the minimum 2-norm. Secondly, a uniform solution strategy for the dynamic workspace is obtained by the set theory. Furthermore, the dynamic workspace under the given structural parameters is simulated, and the forming reason of the workspace top is analyzed through the change mechanisms of lengths and tensions of the cables when the robot moves along the specific curves on the workspace top. Finally, the relations between reachable area of the workspace bottom and the heights of the masts are studied by means of the bottom section views, from which some reasonable selection criterions for the mast heights are obtained.

     

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