悬索驱动四缆并联机器人的设计与控制

Ramin Mersi, Sina Vali, Morteza Shahamiri Haghighi, G. Abbasnejad, M. T. Masouleh
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引用次数: 11

摘要

本文研究了一种新型悬吊无约束缆索驱动四缆并联机器人的设计与控制。为了提高对电缆长度的估计,利用辅助滚轮螺旋机构使卷扬机线性移动,使电缆在一层上适当卷绕。此外,为了实时获取机器人的姿态,在末端执行器上嵌入了角速率传感器。利用角速率传感器采集的数据,将正演几何静力问题的解等效为线性方程组的解。上述简化系统可以很容易地求解,并导致运动平台的实时姿态,这是控制中的一个确定资产。在此基础上,给出了缆索驱动并联机器人的运动学问题,并提出了一种求解正向几何静力问题的新方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and Control of a Suspended Cable-Driven Parallel Robot with Four Cables
This paper addresses design and control of a new suspended under-constrained cable-driven parallel robot with four cables. In order to improve the estimation of the cable lengths, an auxiliary roller screw mechanism is utilized to move the winch linearly for proper cable coiling on one layer. Also, for the sake of obtaining the pose of the robot in real-time, an angular rate sensor is embedded on the end-effector. The collected data from the angular rate sensor is used to make equivalent the solution of the forward geometric-static problem to the solution of linear system of equations. The foregoing reduced system can be readily solved and leads to the pose of the moving platform in real-time which is a definite asset in control. Moreover, kinematic problem of the cable-driven parallel robot is provided and a new method for obtaining the forward geometric-static problem is proposed.
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