中文摘要：

现有索牵引并联机器人研究中,由于柔索长度较短大多将其处理成仅能受拉的直线索单元,没有考虑柔索垂度的影响,刚度分析过程与刚性支腿并联机器人相同。为考虑垂度影响,该文采用悬链线方程建立了大跨度柔索的静力学模型,推导出柔索的刚度矩阵。然后提出了一种刚度等效模型,将柔索等效为三根两两相互垂直的弹簧。于是便可将索牵引并联机器人等效为弹簧支撑并联机器人,从而利用现有的刚度分析结论即可完成大跨度索牵引机器人的刚度分析。最后,以大射电望远镜的索支撑系统为例研究了其刚度特性。

英文摘要：

In most of the analysis of cable-driven parallel manipulators composed of relatively short cables,cables are treated as linear elements that can only be tensioned,and the sag effects due to their self-weight cannot be considered.As a result,the stiffness analysis procedure is the same as that of rigid-link parallel manipulators.In this paper,the static model for long-span cables is constructed using catenary equation to account for the sag effects,and the stiffness matrix of a cable is deduced.An equivalent model in the stiffness sense is presented,in which a cable can be replaced by 3 springs perpendicular to each other.Then a cable-driven parallel manipulator is equivalent to its relative rigid-link counterpart.The stiffness matrix of a long-span cable-driven manipulator can be obtained by referring to the available conclusions of the stiffness analysis.The stiffness of the cable-supporting system for a large radio telescope is presented as a numerical example.