留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

冗余约束绳驱并联机器人的张力分配研究

陶冶 张尚盈 王彦伟

陶冶, 张尚盈, 王彦伟. 冗余约束绳驱并联机器人的张力分配研究[J]. 机械科学与技术, 2021, 40(3): 344-349. doi: 10.13433/j.cnki.1003-8728.20200061
引用本文: 陶冶, 张尚盈, 王彦伟. 冗余约束绳驱并联机器人的张力分配研究[J]. 机械科学与技术, 2021, 40(3): 344-349. doi: 10.13433/j.cnki.1003-8728.20200061
TAO Ye, ZHANG Shangying, WANG Yanwei. Research of Tension Distribution Solution for Redundantly Constrained Cable-driven Parallel Robots[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(3): 344-349. doi: 10.13433/j.cnki.1003-8728.20200061
Citation: TAO Ye, ZHANG Shangying, WANG Yanwei. Research of Tension Distribution Solution for Redundantly Constrained Cable-driven Parallel Robots[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(3): 344-349. doi: 10.13433/j.cnki.1003-8728.20200061

冗余约束绳驱并联机器人的张力分配研究

doi: 10.13433/j.cnki.1003-8728.20200061
基金项目: 

国家自然科学基金项目 51375186

详细信息
    作者简介:

    陶冶(1996-), 硕士研究生, 研究方向为机构学与机器人学, tyofficing@163.com

    通讯作者:

    张尚盈, 高级工程师, 硕士生导师, 博士, zhshangying@163.com

  • 中图分类号: TP242

Research of Tension Distribution Solution for Redundantly Constrained Cable-driven Parallel Robots

  • 摘要: 提出一种改进的二次规划方法求解冗余约束绳驱并联机器人的绳索张力分配问题。建立一般冗余约束绳驱并联机器人运动学模型,对机构进行受力分析,得到一般冗余约束绳驱并联机器人的动力学方程。结合力封闭的思想,引入参考力的概念,改进传统的二次规划方法,得到了适用于冗余约束绳驱并联机器人的绳索张力分配优化模型。以八绳六自由度绳驱并联机器人为例,利用MATLAB/Simulink/xPC工具进行实时仿真实验,实现该并联机器人在两种典型空间运动轨迹下的动态运行,分别运用改进的二次规划算法、传统二次规划算法和Closed-form算法求解绳索张力分配问题,比较3种张力分配算法的仿真结果,验证了改进的二次规划算法求解绳索张力分配的合理性。
  • 图  1  冗余约束绳驱并联机器人的机构简图

    图  2  末端执行器的直线轨迹

    图  3  末端执行器的螺旋线轨迹

    图  4  xPC实时仿真实验平台

    图  5  姿态角为[0.1, 0.15, 0.18]T rad时, 3种算法绳索张力-时间曲线

    图  6  姿态角为[0, 0, 0]T rad时, 3种算法绳索张力-时间曲线

    表  1  并联机器人的几何参数 m

    绳索i 向量ai 向量bi
    1 [0.1, 0.05, -0.05]T [0.5, 0.5, 0]T
    2 [-0.1, 0.05, -0.05]T [-0.5, 0.5, 0]T
    3 [-0.1, -0.05, -0.05]T [-0.5, -0.5, 0]T
    4 [0.1, -0.05, -0.05]T [0.5, -0.5, 0]T
    5 [0.1, 0.05, 0.05]T [0.5, 0.5, 1.2]T
    6 [-0.1, 0.05, 0.05]T [-0.5, 0.5, 1.2]T
    7 [-0.1, -0.05, 0.05]T [-0.5, -0.5, 1.2]T
    8 [0.1, -0.05, 0.05]T [0.5, -0.5, 1.2]T
    下载: 导出CSV
  • [1] JAMSHIDIFAR H, KHOSRAVANI S, FIDAN B, et al. Vibration decoupled modeling and robust control of redundant cable-driven parallel robots[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(2): 690-701 doi: 10.1109/TMECH.2018.2793578
    [2] CAVERLY R J, FORBES J R. Dynamic modeling and noncollocated control of a flexible planar cable-driven manipulator[J]. IEEE Transactions on Robotics, 2014, 30(6): 1386-1397 doi: 10.1109/TRO.2014.2347573
    [3] POTT A, MÜTHERICH H, KRAUS W, et al. IPAnema: a family of cable-driven parallel robots for industrial applications[C]//Bruckmann T, Pott A. Cable-Driven Parallel Robots. Berlin, Germany: Springer-Verlag Press, 2013: 119-134
    [4] FORTIN-CÔTÉ A, CARDOU P, GOSSELIN C. An admittance control scheme for haptic interfaces based on cable-driven parallel mechanisms[C]//2014 IEEE International Conference on Robotics and Automation (ICRA). Hong Kong, China: IEEE Press, 2014: 819-825
    [5] BARNETT E, GOSSELIN C. Large-scale 3D printing with a cable-suspended robot[J]. Additive Manufacturing, 2015, 7: 27-44 doi: 10.1016/j.addma.2015.05.001
    [6] OUYANG B, SHANG W W. Rapid optimization of tension distribution for cable-driven parallel manipulators with redundant cables[J]. Chinese Journal of Mechanical Engineering, 2016, 29(2): 231-238 doi: 10.3901/CJME.2015.1120.137
    [7] 苏宇, 仇原鹰, 王龙, 等. 高速绳牵引并联摄像机器人冗余驱动力优化求解[J]. 西安电子科技大学学报, 2014, 41(2): 90-96 https://www.cnki.com.cn/Article/CJFDTOTAL-XDKD201402016.htm

    SU Y, QIU Y Y, WANG L, et al. Optimization of redundant driving force for high-speed cable-driven parallel camera robots[J]. Journal of Xidian University, 2014, 41(2): 90-96 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-XDKD201402016.htm
    [8] SONG D, ZHANG L X, XUE F. Configuration optimization and a tension distribution algorithm for cable-driven parallel robots[J]. IEEE Access, 2018, 6: 33928-33940 doi: 10.1109/ACCESS.2018.2841988
    [9] SU Y, QIU Y Y, LIU P. Optimal cable tension distribution of the high-speed redundant driven camera robots considering cable sag and inertia effects[J]. Advances in Mechanical Engineering, 2015, 6: 729020 http://smartsearch.nstl.gov.cn/paper_detail.html?id=39b595579dfb783859c6495688451b71
    [10] POTT A, BRUCKMANN T, MIKELSONS L. Closed-form force distribution for parallel wire robots[C]//Kecskemethy A, Mueller A. Computational Kinematics. Berlin, Germany: Springer Press, 2009: 25-34
    [11] POTT A, MIERMEISTER P. Workspace and interference analysis of cable-driven parallel robots with an unlimited rotation axis[C]//Lenarcˇicˇ J, Merlet J P. Advances in Robot Kinematics. Cham: Springer, 2016: 341-350
    [12] 张卓, 梁艳阳, 刘宏伟, 等. 典型空间轨迹的张力优化算法研究[J]. 机械设计与制造, 2016(4): 35-38, 43 https://www.cnki.com.cn/Article/CJFDTOTAL-JSYZ201604010.htm

    ZHANG Z, LIANG Y Y, LIU H W, et al. The research of optimal tension distribution methods based on typical trajectory[J]. Machinery Design & Manufacture, 2016(4): 35-38, 43 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JSYZ201604010.htm
    [13] GOUTTEFARDE M, LAMAURY J, REICHERT C, et al. A versatile tension distribution algorithm for n-DOF parallel robots driven by n+2 cables[J]. IEEE Transactions on Robotics, 2015, 31(6): 1444-1457 doi: 10.1109/TRO.2015.2495005
    [14] RASHEED T, LONG P, MARQUEZ-GAMEZ D, et al. Tension distribution algorithm for planar mobile cable-driven parallel robots[C]//Gosselin C, Cardou P, Bruckmann T, eds. Cable-Driven Parallel Robots. Berlin, Germany: Springer International Publishing Press, 2018: 268-279.
    [15] LIM W B, YEO S H, YANG G. Optimization of tension distribution for cable-driven manipulators using tension-level index[J]. IEEE/ASME Transactions on Mechatronics, 2014, 19(2): 676-683 doi: 10.1109/TMECH.2013.2253789
    [16] LI H, ZHANG X Y, YAO R, et al. Optimal Force distribution based on slack rope model in the incompletely constrained cable-driven parallel mechanism of FAST telescope[C]// Bruckmann T, Pott A. Cable-Driven Parallel Robots. Berlin, Germany: Springer-Verlag Press, 2013: 87-102
  • 加载中
图(6) / 表(1)
计量
  • 文章访问数:  88
  • HTML全文浏览量:  20
  • PDF下载量:  22
  • 被引次数: 0
出版历程
  • 收稿日期:  2019-11-01
  • 刊出日期:  2021-03-01

目录

    /

    返回文章
    返回