空间冗余索驱动并联机构的耦合振动特性研究

Here, aiming at the on-orbit assembly task of large space structures, a scheme of cable-driven parallel mechanism (CDPM) was proposed, and its vibration characteristics are studied. Firstly, the stiffness matrix of the mechanism was derived based on differential transformation, and then its vibration equation was established. Secondly, effects of position and attitude of motion platform and cable tension level on vibration characteristics of the mechanism were analyzed through theoretical calculation, and vibration laws of the mechanism under different working conditions were studied through simulation. Finally, a scaled prototype of spatial redundant cable parallel mechanism was built and its vibration characteristics tests were conducted to verify the correctness of vibration model and the effectiveness of simulation results. The results showed that when the moving platform is at the center position, all modes are decoupled and vibrations in different directions are matually independent; when moving platform is at edge position, various modes are strongly coupled, interference force in single direction can cause vibrations in multipile directions, and vibration frequencies are dominated bu the first order and the seconds order natural frequencies; the study results have guiding significance for the vibration control of cable parallel mechanism.