On the Wire Force Adjustment and Trajectory Planning of Wire-Driven Platforms
Date Issued
2006
Date
2006
Author(s)
Jheng, Dai-Li
DOI
zh-TW
Abstract
本研究主要在探討與發展對於空間型八線線驅動平台線張力之調整的方法與策略，並將此方法運用於運動軌跡之規劃上，使得規劃出之運動軌跡能使平台各線之張力都控制在一定的線張力限制範圍內。首先對線驅動平台運動學與靜力學進行分析，並探討其靜不定之問題，而後提出以調整方位角與彈力腱張力來控制各線張力之方法以及調控策略。其次建立線驅動平台之模型，經過數值模擬而確認線張力調整之方法與策略之可行性。最後將此調整方法與策略應用於運動軌跡之規劃而得到線張力已調控之運動軌跡，使平台各線之張力得以控制在一定的操作範圍內。此研究結果期能有助於發展線驅動平台之控制策略，也可做為實作上的一個參考。
This study presents methods and strategies to adjust the wire forces of the spatial wire-driven platforms (WDP), such that on the desired trajectory on which all the wire forces can be controlled within the wire force limits. Firstly, the kinematics and dynamics of WDP are discussed. And then the indeterminate force equation of WDP is solved by using elastic elements. Further, the wire forces of WDP can be adjusted by modulating the orientation angle and the wire force values of elastic elements. Numerical simulations are illustrated for the feasibility of the methods and strategies. Finally, the desired trajectory can be obtained and all the wire forces of WDP can be controlled in the wire force limits. The results of this study would be helpful for developing the operating strategy of WDP motion.
Subjects
線驅動平台
線張力
方位角
彈力腱
wire-driven platform
wire force adjustment
trajectory planning
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-95-R91522616-1.pdf
Size
23.53 KB
Format
Adobe PDF
Checksum
(MD5):dd17384d7546bea4a5802a85bfca736d