六自由度绳牵引并联机构的轨迹规划

建立所设计的六自由度绳牵引并联机构的运动学逆解模型后，提出1种计算拉力的算法，以动平台末端执行器能实现∞型的轨迹为目标，进行运动规划，研究绳的运动特性。仿真结果表明，绳的速度值和加速度值，始终不大于动平台末端执行器的速度值和加速度值，绳的加速度值和末端执行器的加速度值，同属1个数量级。同时，一些绳的拉力的变化不大(处于“关”的状态)；而另外一些绳的拉力的变化很大(处于“开”的状态)，这些运动轨迹规划的仿真结果，能为以后该机构的运动控制方案的研究以及控制系统的设计，提供依据。文中提出的运动轨迹规划方法，它对一般的六自由度绳牵引并联机构都适用。

Trajectory Planning of a 6-DOF Wire-Driven Parallel Kinematic Manipulator

With regard to the authors' design of a 6 DOF wire driven parallel kinematic manipulator, the inverse kinematic model is set up and an algorithm is put forward to calculate the tension of wires; and then, motion trajectory planning is carried out and the kinematic characteristics of wires are studied, with the objective that helical shaped trajectory can be realized by end effector on the moving platform. As shown by the simulation results, the value of velocity and acceleration of wires are always less or equal to those of the end effector;the values of acceleration of wires is in the order of magnitude of that of end effector;and moreover, the tension of some wires changes slightly and even in the state of "switch off", however, the tension of the other wires changes greatly and even in the state of "switch on". These results may serve as a basis for further motion scheme control and control system design of this manipulator. The methods of trajectory planning presented here is applicable to general 6 DOF wire driven parallel kinematic manipulators.