中文摘要：

混合驱动柔索并联机器人是机电高度集成系统,其动态性能由结构系统和控制系统共同决定。为了提高混合驱动柔索并联机器人整体系统的动态性能,并考虑到其结构系统和控制系统的密切耦合关系,对混合驱动柔索并联机器人的结构系统与控制系统进行集成优化设计。描述混合驱动柔索并联机器人系统的结构和运动过程;根据闭环矢量原理和机构的几何特征,对混合驱动柔索并联机器人进行运动学分析;基于Lagrange方程,推导出混合驱动柔索并联机器人的动力学模型;讨论优化过程中涉及的设计变量、约束方程表达式和目标函数,建立混合驱动柔索并联机器人系统的集成优化模型。结合实例,对混合驱动柔索并联机器人系统进行分离优化设计和集成优化设计的数值仿真比较研究,结果表明,集成设计方法能够使系统获得更好的动态性能。

英文摘要：

Hybrid-driven-based cable parallel manipulators（HDCPM） are the electromechanical integrated system whose dynamic performance is determined by structure system and control system together.In order to improve the dynamic performance of the HDCPM system,integrated optimization design of structure system and control system of the HDCPM is carried out based on the coupling relationship of structure system and control system of the HDCPM.Structure and movement of the HDCPM system are depicted.Kinematics of the HDCPM is analyzed by principle of closed loop vector and geometric characteristic of mechanism,and dynamic formulation is established on the basis of Lagrange equation.Design variables,constraints equations,and objective function of the optimization problem are discussed,and integrated optimization model of the HDCPM system is presented.As an example,separated optimization design and integrated optimization design for the HDCPM are comparatively studied through numerical simulation.Simulation results illustrate that integrated design can get better dynamic performance for the HDCPM system.