北京航空航天大学学报 ›› 2007, Vol. 33 ›› Issue (01): 94-99.

• 论文 • 上一篇    下一篇

绳驱动机器人的解耦分析和位置控制仿真

陈伟海, 王辉华, 于守谦, 雷银照   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083
  • 收稿日期:2005-12-23 出版日期:2007-01-31 发布日期:2010-09-19
  • 作者简介:陈伟海 (1955-),男,浙江象山人,副教授, whchenbuaa@126.com.
  • 基金资助:

    国家自然科学基金资助项目(50375008,60575052)

Decouple analysis and simulation of displacement control for cable-driven manipulator

Chen Weihai, Wang Huihua, Yu Shouqian, Lei Yinzhao   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2005-12-23 Online:2007-01-31 Published:2010-09-19

摘要: 为提高机器人的负载能力,基于几何分析和螺旋理论的基本原理,对绳驱动 拟人臂机器人的构型设计、钢绳传动方式和运动学控制问题进行了深入的分析.首先针对绳 驱动走线方式的多样性选择,设计了一种具有肘、腕关节耦合和肩、肘关节耦合的绳驱动传 动机构;然后以肩、肘、腕7-DOF关节为中间媒介对机器人末端和驱动钢绳间的运动学关系 进行了分析,即先考虑机器人末端位姿和各关节角度之间的关系,再研究各关节角度和其相 应的驱动钢绳绳长之间的关系,从而得到绳驱动机器人的运动学解;最后进行了仿真研究. 仿真结果显示机器人的关节角度和绳长变化曲线十分平滑,末端的实际轨迹跟踪理想轨迹的 误差非常微小,说明建议的算法正确,绳驱动机器人运行理想,可以有效克服常规机器 人自重过大带来的负面影响.

Abstract: To improve the load capacity of the manipulator, based on the geometry analysis and screw theory, the configuration design, c able-driven manner, and kinematics control for a cable-driven humanoid-arm ma nipulator were analysed. Firstly, aiming at the choice of cables-driven manner s, a cable-driven me chanism that is coupled between elbow and wrist, and between shoulder and elbow was designed. Secondly, taking the 7-DOF joints such as the shoulder, elbow and w rist as medium, the relationship between the end-effector and driven cables was a nalyzed, i.e. through considering the relationship among the end-effector′s po se and joint angles firstly for the manipulator, and then considering the relation ship among joint angles and corresponding length of cables, the kinematics of ca ble-driven manipulator can be solved. Lastly the simulation was realized. The s im ulation results show that the curves of manipulator′s joint angles and length o f cables are very smooth, and the error between actual trajectory and ideal traje ctory of the end-effector is very small. These prove that the proposed algorith m is correct, the cable-driven manipulator runs well, and proposed approach can e ffectively overcome the negative effects from general robot brought by its deadw eight.

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