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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

陈伟海, 王辉华, 于守谦, 等 . 绳驱动机器人的解耦分析和位置控制仿真[J]. 北京航空航天大学学报, 2007, 33(01): 94-99.
引用本文: 陈伟海, 王辉华, 于守谦, 等 . 绳驱动机器人的解耦分析和位置控制仿真[J]. 北京航空航天大学学报, 2007, 33(01): 94-99.
Chen Weihai, Wang Huihua, Yu Shouqian, et al. Decouple analysis and simulation of displacement control for cable-driven manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(01): 94-99. (in Chinese)
Citation: Chen Weihai, Wang Huihua, Yu Shouqian, et al. Decouple analysis and simulation of displacement control for cable-driven manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(01): 94-99. (in Chinese)

绳驱动机器人的解耦分析和位置控制仿真

基金项目: 国家自然科学基金资助项目(50375008,60575052)
详细信息
    作者简介:

    陈伟海 (1955-),男,浙江象山人,副教授, whchenbuaa@126.com.

  • 中图分类号: TP 242

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

  • 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.

     

  • [1] 高松海. 遥控机器人[M].北京:原子能出版社,1981 Gao Songhai. Romote control of robots[M]. Beijing:Atomic Energy Press,1981 (i n Chinese) [2] Grosselin C M, Wang Jing. Kinematic analysis and design of cable -driven spherical parallel mechanisms RoManSy 2004.Montreal,Canada:,2004:14-18 [3] Riechel A T, Imme Ebert-Uphoff. Force-feasible workspace analysis for underconstrained, point-mass cable robots Proceedings of the 2004 IEEE In ternational Conference on Robotics & Automation. New Orleans,LA:IEEE,2004:4956-4962 [4] Bosscher Paul, Imme Ebert-Uphoff. Wrench-based analysis of cable-driv en robots Proceeding of the 2004 IEEE Inter Conf on Robotics & Automation . New Orleans, LA:IEEE, 2004:4950-4955 [5] Imme Ebert-Uphoff, Voglewede P A. On the connections between cable-dri ven robots, parallel manipulators and grasping Proceedings of the 2004 IE EE International Conference on Robotics & Automation. New Orleans, LA:IEEE, 200 4:4521-4526 [6] Albus J, Bostelman R, Dagalakis N, et al. Nist robocrane[J]. Journal o f Robotic System, 1993,10(5):709-724 [7] Homma Keiko, Fukuda Osamu, Nagata Yoshihiko, et al. Study of a wire-dri ven leg rehabilitation system Proceedings of the 2002 IEEE/RSJ Inter Conf erence on Intelligent Robots and Systems EPFL. Lausanne, Switzerland:IEEE, 2002 [8] Kawamura S, Ida M, Wada T, et al. Development of a virtual sports machin e using a wire drive system—a trial of virtual tennis Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Pittsburgh, PA,USA:IEEE, 199 5, 1:111-116 [9] Ming Aiguo, Higuchi Toshiro. Study on multiple degree-of-freedom posit ioning mechanism using wires [J]. Inter J Japan Soc Prec Eng, 1994,28(2):131-138 [10] 钱锡康.BUAA-RR七自由度机器人机械结构设计[J].北京航空航天大学学报,1998,24(3):354-357 Qian Xikang. Mechanical configuration design for BUAA-RR seven degree-of-free dom robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 1 998,24(3):354-357(in Chinese) [11] Yang Guilin, Lin Wei, Kurbanhusen M S, et al. Kinematic design o f a 7-DOF cable-driven humanoid arm:a solution-in-nature approach Pro ceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Monterey, California, USA:IEEE, 2005(7):24-28 [12] Zollo L, Siciliano B, Laschi C, et al. An impedence-compliance control for a cable-actuated robot 2002 IEEE/RSJ Inter Conf On Intelligent Rob ots and Systems. Lausanne, Switzerland:IEEE, 2002, 2268-2273 [13] Chen I M, Yang G L. Inverse kinematics for modular reconfigurable robots Proceedings of IEEE International Conference on Robotics and Automation . Leuven, Belgium:IEEE, 1998:1647-1652
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出版历程
  • 收稿日期:  2005-12-23
  • 网络出版日期:  2007-01-31

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