基于四绳并联驱动的无源剪叉式起重机构设计

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中图分类号：TP122 文献标志码：A

Abstract：Inviewteproblemthatthetraditionalfour-ropecraneispronetoswingingduringthelftingprocesshasisficient anti-interferenebilityichftstoeratietydcuracyovelfingmehsmwihpaivesissmech therigidupporthasbndsiged.Firstlystartingfromstablishngthestaticmodeltefouropecrane，itisexpoundedthathe four-ropesystemcanefectivelydistributetheload，reducetheswingingamplitude，improvethesafety；then，byintroducingthe synchronousretractingmechanismtesissorliftingmechanism，testabilityprecisecontrolabiltytecaneareotiized; moreover，byadoptingtheinematicanalysismethodstheEuleranglemethodthetitudetransformationmatrix，theelashp betweentheropelengththepositionisderived，providingtheoreticalsupportforitsprecisecontrol.Inaddition，thestructural improveentmechanicalstructureanalysisthescissormechanismarecariedouttoenhanceitsanti-interferenceability elongationeffect.Theresultsthesimulationanalysistheprototypeverificationtestshowthatthefsetisreducedby 87.2% ， the inclination is reduced by 92.03% ；thisdesign can effectively overcome the problems the traditional four-rope crane， significantlyimproveitsstabilityanti-interferenceability，verifytheeffectivenesssuperioritythisdesign.

Keywords：new-typeliftingmechnismfouropesystem;statics;kiematicaalysis;sisormchanismsimulationanalsabilty

绳驱动广泛应用于自动化、机器人、起重机等领域，研究重点是工作空间的计算、绳索张力的分布计算、机械结构的设计和控制器的开发[1]。（剩余11800字）