陈然,代卓宏,王帅,黄腾飞

• 1:天津航天机电设备研究所
• 2:天津市轻工与食品工程机械装备集成设计与在线监控重点实验室天津科技大学机械工程学院
• 3:天津市微低重力环境模拟技术重点实验室
• 4:天津市宇航智能装备技术企业重点实验室

摘要(Abstract)：

吊具在航天器吊装装配过程中具有非常重要的作用，针对现有航天器吊具自动化程度低的问题，提出一种新型并联式绳驱自动调平机器人吊具，具有高承载力和易于调整姿态的优点。分析了该机器人的动力学，建立此机器人的几何模型并推导了绳索长度和绳索调节量的数学模型，基于求导法建立了运动平台质心的速度和加速度模型；考虑调节过程中各构件的质量特性和运动特性，基于牛顿欧拉法建立了机器人的动力学模型；利用ADAMS软件进行了调平过程的动力学仿真分析。结果表明在给定运动规律和外载荷下，考虑各运动构件惯性力的斜拉绳索拉力计算是正确的，验证了建立的动力学模型的正确性。

关键词(KeyWords)： 自动调平机器人;绳驱并联机构;动力学;仿真分析

Abstract:

Keywords:

基金项目(Foundation): 天津市微低重力环境模拟技术重点实验室开放课题基金（WDZL-2021-04）

作者(Author): 陈然,代卓宏,王帅,黄腾飞

DOI: 10.19356/j.cnki.1001-3997.20260403.027

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