Design And Research Of A Novel Parallel Rope Pulling Blade Lifting Mechanism

With the decrease of non-renewable resources,countries pay more and more attention to the development of wind power,and the innovation of wind power technology is inevitable.The hoisting methods of wind power technology mainly include integral hoisting and single blade hoisting.A new type of parallel rope towing blade lifting mechanism which is easy to adjust blade attitude is presented,and the kinematics,force enclosed space and rope tension distribution are studied.The following:The problems existing in the hoisting process of blades are analyzed.According to the basic principle of large heavy-duty hoisting structure and the related knowledge of mechanism,the whole structure design of the new type of parallel rope towing blade lifting mechanism is completed,and the degree of freedom of the mechanism is analyzed.The kinematics analysis of the rope traction blade lifting mechanism is carried out.The inverse kinematics model of the mechanism is established by using closed vector loop method.The parallel projection iteration method is proposed,and the positive solution model of the mechanism position is established by using this algorithm,and the MATLAB software is used for simulation verification,which provides the theoretical basis for the subsequent analysis.The statics analysis and the working space analysis of the hoisting mechanism of the rope traction blade are executed.A method of solving force closed space based on matrix null space is derived by using force closed condition,and the simulation experiment is carried out to prove the superiority of the method based on matrix null space.Then the distribution and optimization of the tension of the drive rope are conducted.The improved QP algorithm is used to simulate rope tension and verify the correctness and superiority of the improved QP algorithm.In the ADAMS software,the virtual prototype model of the rope traction blade lifting mechanism is conducted.According to the actual hoisting process,the trajectory planning is carried out and the kinematics simulation is executed.Figure 46;Table 10;Reference 51...