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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science >Stiffness analysis of cable-driven parallel mechanisms with cables having large sustainable strains
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Stiffness analysis of cable-driven parallel mechanisms with cables having large sustainable strains

机译：电缆具有大型可持续菌株的电缆驱动平行机构的刚度分析

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摘要

A cable-driven parallel mechanism is driven by a group of cables. Cable-driven parallel mechanisms can use various cables (e.g. steel cables, nylon cables, isoprene rubber cables, and extension springs) with different sustainable strains. This paper studies the stiffness of cable-driven parallel mechanisms with cables having large sustainable strains, aiming to achieve significantly adjustable overall stiffness. The overall stiffness of a cable-driven parallel mechanism can be decomposed into the constant base stiffness and the adjustable strain stiffness. This paper proposes and mathematically proves a theorem that guarantees that the overall stiffness of a cable-driven parallel mechanism at an arbitrary stable pose can be dominated by the adjustable strain stiffness when cable strains are larger than 100%. The theorem employs the minimum eigenvalues of stiffness matrices to characterize the stiffness of cable-driven parallel mechanism. The theorem provides a sufficient condition that guarantees that the overall stiffness of a cable-driven parallel mechanism at an arbitrary stable pose can be significantly adjusted (i.e. the adjustable strain stiffness contributes more than the constant base stiffness in determining the overall stiffness). The theorem is verified through the simulation of a cable-driven parallel mechanism with six degrees of freedom and seven cables.
机译：电缆驱动的并联机构由一组电缆驱动。电缆驱动的平行机构可以使用不同的可持续菌株使用各种电缆（例如钢缆，尼龙电缆，异戊二烯橡胶电缆和延伸弹簧）。本文研究了具有大型可持续菌株的电缆的电缆驱动的并联机构的刚度，旨在实现显着可调节的整体刚度。电缆驱动的并联机构的总刚度可以分解成恒定的基础刚度和可调节应变刚度。本文提出并在数学上证明了定理，该定理保证了当电缆菌株大于100％时，可以通过可调应变刚度来支配任意稳定姿势的电缆驱动的并联机构的总刚度。定理采用刚度基质的最小特征值，以表征电缆驱动并联机构的刚度。定理提供了一种充分的条件，保证可以显着调节在任意稳定的姿势处的电缆驱动的并行机构的总刚度（即可调节的应变刚度在确定整体刚度时产生的大于恒定的基础刚度）。通过模拟具有六个自由度和七个电缆的电缆驱动的并联机构来验证定理。

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