考虑绳阻尼的绳系并联机器人动力学特性分析

针对应用于风洞试验模型支撑的绳系并联机器人的设计需求，采用实验和理论建模相结合的方法，研究绳阻尼对绳系并联机器人动力学特性的影响。首先，为了准确地定量描述绳阻尼，设计了一套测量绳阻尼的实验装置，通过实验得到了不同参数下的绳阻尼比；其次，考虑了绳阻尼，对绳张力进行建模，并提出了考虑绳阻尼的绳系并联机器人的动力学建模方法；最后，分析了绳阻尼对绳系并联机器人动力学特性的影响。结果表明:绳阻尼对绳系并联机器人动力学响应的影响主要体现在响应幅值上，绳直径越大，绳阻尼对绳系并联机器人动力学响应的减振作用越明显。当绳阻尼系数大于0.6 N·s/m时，不论绳直径粗细如何，绳阻尼对绳系并联机器人动力学特性的影响不能忽略。研究结果可为绳系并联机器人的设计提供理论指导。 

Dynamic characteristics of wire-driven parallel robot with wire damping

To actualize the design requirement of a wire-driven parallel robot applied as the model support in wind tunnel tests, the influence of wire damping on the dynamic characteristics of the wire-driven parallel robot was studied by combining experimental and theoretical modeling methods. Firstly, in order to describe the wire damping accurately and quantitatively, a set of experimental devices was designed to measure the wire damping ratio under different parameters. Secondly, considering the wire damping, the wire tension was modeled and the motion equation of the wire-driven parallel robot was established. Finally, the influence of wire damping on the dynamic characteristics of the wire-driven parallel robot was analyzed. The results show that wire damping mainly affects the amplitude response of the wire-driven parallel robot. The larger the diameter of the wire is, the more obvious the effect of wire damping on the vibration reduction of the wire-driven parallel robot is. When the wire damping coefficient is greater than 0.6 N·s/m, the influence of wire damping on the dynamic characteristics of the wire-driven parallel robot cannot be neglected, regardless of the diameter of the wire.The research results can provide theoretical guidance for the design of the wire-driven parallel robot.