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

绳驱动机器人的解耦分析和位置控制仿真

北京航空航天大学自动化科学与电气工程学院, 北京 100083

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
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- 文章访问数: 3460
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- 被引次数: 0
出版历程
- 收稿日期: 2005-12-23
- 网络出版日期: 2007-01-31

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

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

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.
- 绳驱动 /
- 拟人臂 /
- 机器人 /
- 运动学 /
- 并联机构
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.
- cable-driven /
- humanoid-arm /
- robot /
- kinematics /
- parallel mechanism

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