【摘要】 4-1型柔索驱动并联机器人性能优越具有较好的应用潜力，但评价并保证机器人末端执行器的稳定性任务艰巨。为此，对4-1型柔索驱动并联机器人的稳定性度量方法进行研究，提出一种融合机器人末端执行器位置和约束力影响因子的稳定性度量方法及其指标；建立4-1型柔索驱动并联机器人稳定性灵敏度分析模型，探索并分析末端执行器位置和柔索驱动力等因素对机器人稳定性的影响程度，提出采用关联度研究和分析末端执行器位置及柔索驱动力等参数对机器人稳定性的影响程度。以4索驱动拣矸机器人为例，对所建立的稳定性度量模型及其敏感度分析模型进行仿真研究，得出了能够保证拣矸机器人末端抓斗满足预定稳定性要求的位置点集。稳定性敏感度研究结果表明：拣矸机器人稳定性对驱动力影响因素的敏感度较大，关联度为0.938 7～0.964 7;其次为位置影响因素，关联度为0.543 9～0.774 3。更多还原

【Abstract】 A 4-1 type cable-driven parallel robot has excellent performance and good application potential, but it is crucial to evaluate and ensure the stability of the robot. The stability measurement method of the robot was investigated, and a stability measurement method fusing position influencing factors and cable tension influencing factors was proposed. A stability sensitivity analysis model for the robot was established, and the influences of the positions of the end-effector and the cable tensions on the stability were explored and analyzed. The correlation degree was proposed to investigate and measure the influence degree of the factors on the stability of the robot. The presented stability evaluation model and sensitivity analysis model were used in the simulation of a cable-driven gangue sorting robot, and the position set of the end-effector where the end-effector could meet the predetermined stability requirements was obtained. The results show that the stability of the cable-driven gangue sorting robot is sensitive to cable tensions, and the correlation degrees between them is 0.938 7-0.964 7; and while, the correlation degrees between the positon of the end-effector and the stability is 0.543 9-0.774 3.更多还原