绳牵引摄像机器人的力位混合稳定性评价方法

doi:10.3969/j.issn.1001-2400.2016.01.016

J4 ›› 2016, Vol. 43 ›› Issue (1): 87-93.doi: 10.3969/j.issn.1001-2400.2016.01.016

绳牵引摄像机器人的力位混合稳定性评价方法

刘鹏;仇原鹰

(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:2014-08-18 出版日期:2016-02-20 发布日期:2016-04-06
通讯作者: 刘鹏
作者简介:刘鹏(1984-)，男，西安电子科技大学博士研究生，E-mail：200304405liupeng@163.com．
基金资助:
国家自然科学基金资助项目(51175397,51105290)

Approach with a hybrid force-position property to assessing the stability for camera robots

LIU Peng;QIU Yuanying

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

Received:2014-08-18 Online:2016-02-20 Published:2016-04-06
Contact: LIU Peng

摘要/Abstract

摘要：

首先，以绳牵引摄像机器人的索拉力求解和运动学分析为基础，提出了以拉力最小绳索的索拉力以及该绳索与水平面夹角的正切值为因素的力位混合稳定性评价指标，用于评价摄像平台运动的稳定性，并定义了满足一定稳定条件的稳定工作空间；其次，进一步将摄像机器人受到扰动后的工作空间与稳定工作空间进行比较; 最后，仿真算例验证了采用力位混合稳定性求解指标的合理性．

关键词: 绳牵引并联机器人, 摄像机器人, 稳定性, 工作空间, 力位混合

Abstract:

Firstly, in order to assess the stability of the camera robots, a stability performance index with combination of force and position is proposed based on the determinations of the cable tensions for a camera robot. Furthermore, the stability performance index is described using the weighted average method, and meanwhile，the stability workspace is designed with the stability performance index. Secondly, a robust workspace with the external wrench is selected to compare with the stable workspace above for the camera robots. Finally, simulation results show that it is suitable to employ the stable performance to evaluate the stability of the camera robots.

Key words: cable-based parallel robots, camera robot, stability, workspace, hybrid force-position approac

中图分类号:

TP242

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.

LIU Peng;QIU Yuanying. Approach with a hybrid force-position property to assessing the stability for camera robots[J]. J4, 2016, 43(1): 87-93.

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绳牵引摄像机器人的力位混合稳定性评价方法

Approach with a hybrid force-position property to assessing the stability for camera robots

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