绳牵引刚柔式波浪补偿并联机构的设计与建模

陈原,郭登辉,田丽霞

Design and modeling of wire-driven rigid-flexible parallel mechanism for wave compensation

Yuan CHEN,Deng-hui GUO,Li-xia TIAN

表 1 计算绳长与给定绳长的对比

Tab.1 Comparison between calculated with given rope lengths

序号 ${{{P}}_0}$/mm ${}_{{P}}^{{O}}{{R}}$ 绳长符号 计算绳长/mm 输入绳长/mm 绳长误差/mm 实例1 $\left[ {\begin{array}{*{20}{c}} { - 0.64} \\ { - 1.54} \\ {47.37} \end{array}} \right]$ $\left[ {\begin{array}{*{20}{c}} {0.351}&{0.813}&{0.525} \\ { - 0.876}&0&{0.318} \\ {0.397\;9}&{ - 0.573}&{0.600} \end{array}} \right]$ L1 78.574 80 1.426 L2 97.756 100 2.243 L3 98.379 100 1.621 实例2 $\left[ {\begin{array}{*{20}{c}} {5.790} \\ { - 4.222} \\ {47.370} \end{array}} \right]$ $\left[ {\begin{array}{*{20}{c}} {0.291}&{0.993}&{ - 0.273} \\ { - 0.769}&{0}&{ - 0.399} \\ { - 0.447}&{0.027}&{0.859} \end{array}} \right]$ L1 118.124 120 1.876 L2 131.358 130 1.358 L3 78.279 80 1.721