Stiffness Performance Analysis and Optimization Design of Incompletely Restrained Cable-driven Parallel Mechanism
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摘要: 为了提高欠约束绳牵引并联机构的刚度性能，研究了一种以刚度为基础的优化方法。首先，通过静力学方程对机构进行受力分析，通过引入线矢量和微分变换公式推导出机构的静态刚度模型；其次，定义两个设计变量，以机构的工作空间、刚度的全域均值、刚度的全域波动性为优化目标，研究其变化规律；最后，使用理想点法对多个目标进行优化并对目标函数进行归一化处理，得到了最优的结构参数。
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关键词:
- 欠约束绳牵引并联机构 /
- 工作空间 /
- 静刚度 /
- 优化设计 /
Abstract: In order to enhance the stiffness performance of an incompletely restrained cable-driven parallel mechanism, this paper studies a stiffness-based optimization method. Firstly, the parallel mechanism's static equations are used to analyze its force and a line vector and a differential transform are introduced to deduce its static stiffness model. Then, two design variables are defined, the optimal design with respect to workspace, global average value of stiffness and global volatility of stiffness are carried out and analyzed. Finally, the multi-objective optimization of the parallel mechanism is implemented by using the ideal point method and the objective functions are normalized to obtain the best structural parameters. -
表 1 机构尺寸参数
参数名 数值及单位 静平台半径ra 1 m 地面与静平台间距h 2 m 动平台质量m 10 kg 绳索的公称直径d 1.2 mm 绳索的横截面积A 1.131 mm2 绳索的弹性模量E 28 GPa 
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