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| 绳牵引并联机构拉力分布的优化 | |
| 引用本文： | 汪选要,曹毅,张文祥,黄真.绳牵引并联机构拉力分布的优化[J].燕山大学学报,2006,30(3):189-193. |
| 作者姓名： | 汪选要 曹毅 张文祥 黄真 |
| 作者单位： | 1. 安徽理工大学,机械工程系,安徽,淮南,232001 2. 江南大学,机械工程学院,江苏,无锡,214063 3. 燕山大学,机械工程学院,河北,秦皇岛,066004 |
| 摘 要： | 从理论上解决了应用于飞行器风洞试验的绳牵引并联机构拉力分布的优化问题。由于绳只能承受拉力，因此机构的运动控制必须实时计算各绳的拉力。以往学者将绳拉力的优化归结为一个线性规划问题并采用迭代。法进行求解，而迭代法不仅计算速度慢，且无确定的优化解。为此，建立了基于影响系数的协调方程和能量最优解析方程，使拉力分布的最优解呈显式表示。 |
| 关 键 词： | 绳牵引 超确定输入 拉力分布优化 能量最优解析 |
| 文章编号： | 1007-791X(2006)03-0189-05 |
| 修稿时间： | 2005年3月10日 |
The optimize for tension distributing of wire-driven parallel robot |
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| WANG Xuan-yao,CAO Yi,ZHANG Wen-xiang,HUANG Zhen.The optimize for tension distributing of wire-driven parallel robot[J].Journal of Yanshan University,2006,30(3):189-193. | |
| Authors: | WANG Xuan-yao CAO Yi ZHANG Wen-xiang HUANG Zhen |
| Abstract: | In thispaper, the problem ofoptimaltensiondistributingofwire-driven parallelrobot of actuationredundancyforaircraftwind tunnels is theoretically solved. Because wires can only sustain tension, real time calculation of wire tension is necessary. Inthe past, to obtain the optimaltensionsolution, the problem wasregarded as a linearprogramming one, and solved by the iterationwhichhas the disadvantages such as lack ofuniquenessoftermination rules, slow calculation and multiple optimalsolutions. Thus,based on effect coefficient harmonic resolution and energy optimal resolution equation are established, which is shown by verysimple expression. |
| Keywords: | wire-driven actuation redundancy optimal tension distributing harmonic equation energy resolution |
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