高速绳牵引并联摄像机器人冗余驱动力优化求解

doi:10.3969/j.issn.1001-2400.2014.02.015

J4 ›› 2014, Vol. 41 ›› Issue (2): 90-96.doi: 10.3969/j.issn.1001-2400.2014.02.015

高速绳牵引并联摄像机器人冗余驱动力优化求解

苏宇;仇原鹰;王龙;杜敬利

(西安电子科技大学电子装备结构设计教育部重点实验室，陕西西安 710071)

收稿日期:2012-11-14 出版日期:2014-04-20 发布日期:2014-05-30
通讯作者: 苏宇
作者简介:苏宇(1982-)，男，西安电子科技大学博士研究生，E-mail：suyuvitamin@163.com．
基金资助:
国家自然科学基金资助项目(51175397，51105290)

Optimization of redundant driving force for high-speed cable-driven parallel camera robots

SU Yu;QIU Yuanying;WANG Long;DU Jingli

(Ministry of Education Key Lab. of Electronic Equipment Structure, Xidian Univ., Xi'an 710071， China)

Received:2012-11-14 Online:2014-04-20 Published:2014-05-30
Contact: SU Yu

摘要/Abstract

摘要：

将完全约束绳牵引并联机构的冗余驱动求解问题转化为凸可行域上的多项式极值问题，提出了衡量驱动优化求解连续性和实时性的指标．通过对一个典型的摄像机器人驱动力分布优化问题的求解，对比分析了几种驱动力优化指标的实时性与连续性，并给出了指标选取的具体建议．

关键词: 绳牵引并联机构, 摄像机器人, 冗余驱动, 驱动力优化, 实时性, 连续性

Abstract:

Determination of redundant tension distribution for completely restrained positioning mechanism is transformed into a polynomial formulation extreme value problem in the convex feasible domain in this paper; and the real-time and continuous indices for measuring cable tension optimization solutions is also presented. A typical cable tension optimal distribution of the CDPCR is determined in order to provide an insight into the problem, so that the real-time and continuity of several tension optimal indices are compared and analyzed. Furthermore, concrete suggestions of index selection are given.

Key words: cable-driven parallel manipulator, camera robot, redundant actuation, optimization of driving force, real-time, continuity

中图分类号:

TG156

苏宇;仇原鹰;王龙;杜敬利. 高速绳牵引并联摄像机器人冗余驱动力优化求解[J]. J4, 2014, 41(2): 90-96.

SU Yu;QIU Yuanying;WANG Long;DU Jingli. Optimization of redundant driving force for high-speed cable-driven parallel camera robots[J]. J4, 2014, 41(2): 90-96.

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[3]	孔宪光;章雄;马洪波;常建涛;牛萌. 面向复杂工业大数据的实时特征提取方法[J]. 西安电子科技大学学报, 2016, 43(5): 70-74+152.
[4]	刘鹏;仇原鹰. 绳牵引摄像机器人的力位混合稳定性评价方法[J]. J4, 2016, 43(1): 87-93.
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[6]	暂时无作者信息. 波导不连续性的时域分析[J]. J4, 1997, 24(4): 0-0.

高速绳牵引并联摄像机器人冗余驱动力优化求解

Optimization of redundant driving force for high-speed cable-driven parallel camera robots

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