三平移刚柔混合并联机构优化设计与动力学分析

提出了一种三自由度绳驱动并联机构，其包含3组同组平行、异组交叉结构的绳系支链和1组被动弹性支链，具有轻质量、高加速度、大工作空间等特点。基于封闭矢量方法推导了机构运动学方程，并分析了机构可达工作空间和任务工作空间以及中间弹性支链对工作空间范围的影响；基于达朗贝尔原理推导了机构的平衡方程，利用边界搜索法、控制变量法建立了中间弹性支链的结构参数与绳索驱动力之间的关系，在保证机构满足高加速度及任务工作空间的条件下，以绳索的驱动力为优化目标对弹性支链结构参数进行优化，确定了合理的弹簧弹性系数和初始长度。采用拉格朗日方法建立了机构的动力学方程，并通过联合Matlab数值计算与ADAMS仿真验证了动力学方程的正确性。最后，基于优化结果设计了试验样机，并通过试验验证了机构运动学方程的正确性。

Optimization Design of 3-DOFs Translational Cable-driven Rigid-flexible Hybrid Parallel Mechanism and Its Dynamics Analysis

A type of three DOFs cable-driven parallel mechanism was proposed, it contained three sets of cables, the same set of parallel and different sets of cross-structured cable branch chains and a set of passive elastic branch chains, which had the characteristics of light weight, high acceleration and large working space. Firstly, based on the closed vector method, the motion analysis of the mechanism was carried out to get the effect of spring branch chain on its working space. Secondly, the balance equation of the mechanism was derived based on the D''Alembert principle, and the relationship between the structural parameters of the intermediate elastic branch chain and the cable driving force was established by using the boundary search method and the controlled variable method to ensure that the mechanism met high acceleration and task working space. Taking the driving force of the rope as the optimization goal to optimize the structural parameters of the elastic branch chain, and determine the reasonable spring coefficient and initial length. Then, Lagrangian method was used to establish the dynamic equation of the mechanism, through the joint Matlab numerical calculation and ADAMS simulation to verify the correctness of the dynamic equation. Finally, the experimental sample was made based on the optimization results, and the institutional motion equation was verified by the experiment.