绳驱动并联吊装机器人绳索张力优化

将绳驱动并联机器人应用于吊装领域，对运动学正解模型和绳索张力优化算法进行深入研究。首先，确定该吊装机器人为冗余约束绳驱动并联机器人，建立机器人的运动学和动力学模型。其次，针对冗余约束绳驱动并联机器人的绳索张力不唯一、不连续问题，分别运用张紧力方法、非线性规划方法和改进二次规划方法对绳索张力进行优化，确定出最佳的张力优化算法。在此基础上，进一步求得此类型绳驱动并联机器人的工作空间。最后，通过MATLAB进行仿真验证。仿真结果表明，相比于另外两种方法，采用改进二次规划方法求解的绳索张力优化解在张力上限和张力下限之间光滑连续变化，说明改进二次规划方法求解绳索张力的合理性和连续性。

Cable Tension Optimization of Cable-driven Parallel Hoisting Robots

The cable-driven parallel robot is applied to the hoisting field, and the forward kinematics model and the cable tension optimization algorithm are studied deeply. Firstly, the hoisting robot was determined to be a redundant restraint cable-driven parallel robot, and the kinematics and dynamics models of the robot were established. Secondly, in order to solve the problem that the cable tension of the redundant restraint cable-driven parallel robot is not unique and discontinuous, the tensioning method, nonlinear programming method and improved quadratic programming method are respectively used to optimize the cable tension, and the optimal tension optimization algorithm is determined. On this basis, the workspace of this type of cable-driven parallel robot is further obtained. Finally, the simulation is verified by MATLAB. The simulation results show that, compared with the other two methods, the optimal solution of cable tension solved by the improved quadratic programming method changes smoothly and continuously between the upper limit of tension and the lower limit of tension, indicating the rationality and continuity of the improved quadratic programming method to solve the cable tension.