绳驱并联机器人的滑轮运动学研究
Pulley kinematics of cable-driven parallel robots
李梦 1叶姣 1孙诚 1张家琛1
作者信息
- 1. 武汉工程大学机电工程学院,湖北 武汉 430205
- 折叠
摘要
绳驱并联机器人末端执行器的高精度运行需要精确的运动学模型提供指导.但传统的绳驱并联机器人运动学模型忽略了滑轮对末端位姿的影响,存在着精度偏低、稳定性较差等问题.为了减小滑轮在运动过程中对于运动学反解造成的影响,提出了一种耦合滑轮运动学的扩展运动学模型.基于八绳六自由度绳驱并联机器人平台,对扩展的运动学模型进行了系列仿真,探究了不同滑轮半径下末端执行器的控制误差.结果表明扩展的运动学模型的绳索的绳长变化量误差、末端执行器的姿态角误差和位移量误差分别减少了2.0%、3.6%、2.2%.滑轮模型的引入有效地提高了绳驱并联机器人的运动稳定性,进一步推动了末端执行器高精度控制的发展.
Abstract
The high-precision operation of the end-effectors of cable-driven parallel robots requires the guidance of accurate kinematic models.However,traditional kinematic models of cable-driven parallel robots neglect the influence of pulleys on the poses of the end-effectors,resulting in low precision and poor stability.By coupling the kinematics of pulleys,an extended kinematic model was proposed to minimize the influence caused by the pulleys on the kinematic inverse solutions during movements.A series of simulations of the extended kinematic model were carried out on the platform of a 6-degree-of-freedom cable-driven parallel robot constrained by 8 cables,and the control errors of the end-effector with different pulley radius were investigated.The results indicate that the errors of the cable length variation,the attitude angle,and the displacement of the extended kinematics model decrease by 2.0%,3.6%and 2.2%,respectively.The introduction of the pulley model effectively improves the motion stability of cable-driven parallel robots,which further promotes the development of high-precision control of the end-effectors.
关键词
绳驱并联机器人/滑轮/运动学/静力学Key words
cable-driven parallel robot/pulley/kinematics/statics引用本文复制引用
基金项目
武汉工程大学研究生教育创新基金(第十四届)(CX2022110)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据