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柔索驱动并联机器人变态模型相似性分析

Aofei TANG,Yuanying QIU,Jianwei MI,Lingfei KONG

Yingyong Jichu yu Gongcheng Kexue Xuebao/Journal of Basic Science and Engineering（2009）

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Abstract
分析了大跨度柔索驱动并联机器人(wire driven parallel robot,WDPR)变态模型的预测系数及相似度问题.建立了大射电望远镜(large radio telescope,LT)中WDPR系统的索张力和基频的相似性经验公式,并以此为基础获得了索张力和基频的预测系数.运用模糊数学理论确定出相似度的表达式.最后,通过模型试验和仿真分析验证出预测系数的有效性和相似度定义的合理性.研究理论为LT变态模型的试验奠定了基础.同时,研究方法也可应用到其它变态模型的相似性研究中.
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Key words
Abnormal coefficient,Large radio telescope,Similar measure,Similarity,Wire driven parallel robot
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