大跨度吊装机器人绳索张力及工作空间求解

针对大跨度吊装机器人的绳索存在悬链线效应的问题开展研究。首先，绳索为直线模型，建立机器人的运动学和动力学模型。其次，绳索存在重力，大跨度绳索为悬链线模型，为了求解悬链线模型中的绳索张力，采用二次规划方法求解绳索张力优化解。在静力学方程基础上，求得吊装机器人的力可达工作空间和力封闭工作空间。最后，通过MATLAB进行仿真验证，仿真结果表明，力可达工作空间小于力封闭工作空间。比较两种模型的绳长，第1根绳索的长度变化最大，绳索张力较小时，绳索自重不容忽略。

Cable Tension and Workspace Solution of Long-span Hoisting Robot

The catenation effect of the rope of the long-span hoisting robot is studied. Firstly, the kinematic and dynamic models of the robot are established by using the cable as linear model. Secondly, there is gravity in the cable, and the long span cable is catenary model, in order to solve the cable tension in the catenary model, the quadratic programming method is used to solve the optimal solution of cable tension. Based on the statics equation, Wrench Feasible Workspace and Wrench Closure Workspace of the hoisting robot are obtained. Finally, the simulation is verified by MATLAB, the simulation results show that Wrench Feasible Workspace is smaller than Wrench Closure Workspace. Comparing the cable length of the two models, the length of the first cable changes the most, the cable tension is small, and the cable self-weight cannot be ignored.