Dynamics modeling and tension analysis for a cable-driven humanoid-arm robot
-
摘要: 与传统的机械臂相比,绳驱动拟人臂机器人采用串并混联的结构形式,模拟了人手臂肌肉的并联驱动方式,但是,绳索的引入也增加了动力学分析的难度.将绳驱动拟人臂机器人视为基座、大臂、小臂和末端四连杆串联机构,采用迭代牛顿-欧拉法建立动力学方程的递推形式,考虑绳驱动的冗余特性和绳索的单方向受力性,提出基于动态最小预紧力的张力分配算法,求解出各绳索的驱动力.与未进行张力分配的方法及基于静态最小预紧力的方法相比,所提出的算法可使各绳索驱动力根据动态最小预紧力进行实时调节,满足了不同工作条件下机构的刚度要求.Abstract: Compared to the traditional robotic arm, the cable-driven humanoid-arm robot (CDHAR) similar to human muscles parallel drive mode is the hybrid structure of serial-parallel. However, the introduction of cables also increases the difficulty in dynamic analysis. CDHAR can be seen as a four-link serial mechanism including base, upper arm, forearm and end-effector, iteration Newton-Euler method was adopted to establish the recursive form of dynamics equation. Taking into account the redundant actuation and single-direction force for the cable, tension distribution algorithm based on the dynamic minimum pre-tightening force was proposed to calculate driving force of each cable. Compared to the method without conducting tension distribution or based on the static minimum pre-tightening force, the proposed algorithm can make the driving force of each cable real-time adjust by the dynamic minimum pre-tightening force and meet the rigidity requirement in different running condition.
-
Key words:
- cable-driven /
- humanoid-arm robot /
- dynamic /
- tension analysis
-
[1] 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.The mechanical structure design of 7-DOF robot BUAA-RR [J].Journal of Beijing University of Aeronautics and Astronautics,1998,24(3):354-357(in Chinese) [2] Duan B Y,Qiu Y Y,Zhang F S,et al.On design and experiment of the feed cable-suspended structure for super antenna [J].Mechatronics,2009,19(4):503-509 [3] Kutzer M D M,Segreti S M,Brown C Y,et al.Design of a new cable-driven manipulator with a large open lumen:preliminary applications in the minimally invasive removal of osteolysis [C]//Proceedings of the International Conference on Robotics and Automation.Shanghai,China:IEEE,2011:2913-2920 [4] Yang Guilin,Lin Wei,Kurbanhusen M S,et al.Kinematic design of a 7-DOF cable-driven humanoid arm:a solution-in nature approach [C]//Proceedings of the International Conference on Advanced Intelligent Mechatronics.California,USA,2005:444-449 [5] 陈伟海,陈泉柱,张建斌.线驱动拟人臂机器人逆向运动学分析[J].机械工程学报,2007,43(4):12-20 Chen Weihai,Chen Quanzhu,Zhang Jianbin.Inverse kinematic analysis for cable-driven humanoid arm [J].Chinese Journal of Mechanical Engineering,2007,43(4):12-20 [6] Brackbill E A,Mao Ying,Agrawal S K,et al.Dynamics and control of a 4-DOF wearable cable-driven upper arm exoskeleton [C]//Proceedings of the International Conference on Robotics and Automation.Kobe,Japan:IEEE,2009:2300-2305 [7] 陈泉柱,陈伟海,刘荣,等.具有关节角反馈的绳驱动拟人臂机器人机构设计与张力分析[J].机械工程学报,2010,46(13):83-90 Chen Quanzhu,Chen Weihai,Liu Rong,et al.Mechanism design and tension analysis of a cable-driven humanoid-arm manipulator with joint angle feedback [J].Chinese Journal of Mechanical Engineering,2010,46(13):83-90 [8] Dasgupta B,Choudhury P.A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators [J].Mechanism and Machine Theory,1999,34(6):801-824 [9] De Luca A,Ferrajoli L.A modified Newton-Euler method for dynamic computations in robot fault detection and control [C]// Proceedings of IEEE International Conference on Robotics and Automation.Kobe,Japan:IEEE,2009:3359-3364 [10] Featherstone R.Rigid body dynamics algorithms [M].New York:Springer-Verlag,2007
点击查看大图
计量
- 文章访问数: 2045
- HTML全文浏览量: 182
- PDF下载量: 856
- 被引次数: 0