绳驱动并联清洗机器人绳索张力优化

将绳驱动并联机器人应用至外墙清洗领域，并对清洗机器人的动力学建模及张力优化进行深入研究。首先，确定机器人的构型为完全约束绳驱动并联机器人，并建立了考虑绳索弹性的动力学模型；其次，针对该类型绳驱动并联机器人绳张力解不唯一问题，提出将相关力改进的最小方差作为优化目标对绳索张力进行优化。最后，通过Simulink-Adams进行联合仿真验证。结果表明，优化后的绳索张力光滑连续变化。系统开环的情况下，圆形轨迹最大误差均值为0.071 m，终点误差均值为5.15 mm；直线轨迹最大误差均值为9.25 mm，终点误差均值为3.5 mm。解决了完全约束绳驱动并联机器人绳索张力不唯一、不连续问题，并为控制策略研究提供理论依据。

Cable Tension Optimization of Cable-driven Parallel Cleaning Robots

The cable-driven parallel robots are applied to the field of building cleaning, and in-depth research is carried out on dynamic modeling and tension optimization. First, the configuration of the robot was determined to be fully constrained. The dynamic model considering the elasticity of the cable was established; Secondly, the improved method of least variance was proposed for the non-unique cable tension. Finally, Simulink-Adams was used for co-simulation verification. The results show that the optimized cable tension changes smoothly and continuously. In the case of open-loop system, the mean value of maximum error of circular trajectory is 0.071 m, and the mean value of terminus error is 5.15 mm. The mean value of the maximum error of the straight track is 9.25 mm and the mean value of the terminus error is 3.5 mm. The non-uniqueness and discontinuous cable tension problems of fully constrained cable-driven parallel robots were solved, and the theoretical bases of the control strategy were provided.