Method for simulating rope vibration amplitude of rope driving system

The invention discloses a method for simulating the vibration amplitude of a rope of a rope driving system, which comprises the step of solving and obtaining the vibration amplitude of the rope by utilizing a rope kinetic equation based on the tension of the rope and the axial movement speed of the rope. In the expression of the rope tension, the initial rope force of the rope, the rope force change caused by rope damping, the rope force change caused by the time-varying motion of the end effector and the rope force change caused by the transverse vibration of the rope are considered at the same time; and by adopting the expression of the cable force change caused by the time-varying motion of the end effector and the expression of the cable force change caused by the rope damping, the transverse vibration amplitude of the middle point of the rope of the rope driving system can be accurately simulated. 本发明公开了一种模拟绳索驱动系统的绳索振动幅度的方法，其包括基于绳索张力和绳索的轴向运动速度，利用绳索动力学方程求解获得绳索振动幅度的步骤。在绳索张力的表达式中，本发明同时考虑了绳索的初始索力、绳阻尼导致的索力变化、