【摘要】 简要概述了柔索牵引并联机器人在国内外的研究和发展现状,提出一种新颖的基于5根柔索牵引并联机器人的三自由度转动角度机构及测力一体化风洞试验装置。应用并联机构基本理论研究了机构的运动学逆解。依据空间解析几何理论,直接推导出在各柔索安装单分量力传感器时模型的感、测力变换雅可比矩阵。最后给出了数值算例,验证了该装置应用于风洞测力试验的有效性,为该测力装置应用于风洞试验奠定了基础。更多还原

【Abstract】 An overview of research on cable-driven parallel robot at home and abroad is summarized,and then a novel integrative wind tunnel testing equipment is presented based on five cables-driven parallel robot for accomplishing 3-DOF rotation and force measurement for the testing model simultaneously.Inverse kinematics of the angle mechanism is analyzed according to the fundamental theory of the parallel mechanism.By using the theory of the spacial analytic geometry,a force Jacobian matrix is derived for the testing model between the external force and the given five-wire force when single piece force sensor is amounted on the five cables.Finally,an numerical example is used to testify the validity of the cabledriven equipment for force measurement in wind tunnel test.更多还原