中文摘要：

该文研究了高速大跨度冗余驱动绳牵引并联机器人的动力学建模和张力优化分布。首先,建立了基于有限元思想的绳索动力学模型;其次,推导了包含绳索动力学影响的绳牵引并联机器人的动力学方程;继而,以绳索张力方差最小为目标,得到了适用于冗余驱动绳牵引并联机器人的张力优化分布模型;进而,在优化模型的基础上,提出了一种以直线模型的索长和张力为迭代初始值,以绳索垂度不发生改变为终止条件的绳索张力迭代优化算法,实现了绳索张力的优化求解;最后,通过算例仿真说明了考虑绳索质量和惯性力影响的必要性,并且验证了算法的收敛性、有效性和合理性,为绳牵引并联机器人的力控制奠定了理论基础。

英文摘要：

We focus on the dynamic modeling and cable tension optimal distribution for high-speed long-span cable-driven parallel robots with redundant actuations. Firstly, the dynamic model of the cable is established with the aid of the ideas of the finite-element method; secondly, the dynamic equation of the robots considering the cable dynamic is derived; then, a tension distribution optimal model suited for the robots is gained taking the minimum variance of the tensions as the objective function; furthermore, an iterative algorithm is proposed to determine the tensions optimally, which takes the cable tensions and lengths, obtained by a straight line model, as the iterative initial values as well as the unchanged sags of cables as the terminating condition. Consequently, the optimal tensions are determined. Finally, the necessity of considering cable mass and inertia effects is shown through a simulation example, and the convergence, effectiveness and rationality of the algorithm are verified, laying a theoretical foundation for force control to cable-driven parallel robots.