基于索驱动并联机构的触觉交互机器人建模与控制策略

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2023-01-30 DOI:10.5194/ms-14-19-2023

Da Song, Xuesu Xiao, Gang Li, Lixun Zhang, Feng Xue, Lailu Li

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引用次数: 3

摘要

摘要本研究提出一种基于缆索驱动并联机构的触觉交互机器人(HIR)结构及控制策略。滚珠丝杠驱动电缆，提高运动控制精度。机器人系统控制策略提高了触觉交互的精度和稳定性。通过构型优化设计和分析，采用八根钢索来保证机器人末端执行器的受力和运动。建立了机器人的正运动学和逆运动学模型。根据HIR的结构，提出了一种改进的索张力分配算法，可以方便地确定索张力。因此，每根索始终处于紧绷状态，张力的变化不是突然的。提出了驱动单元和机器人系统控制策略，使触觉交互准确稳定。通过末端执行器对复杂空间运动轨迹进行了仿真实验，验证了所建立的正逆运动学模型的准确性。在考虑机器人末端执行器不同受力和运动轨迹的情况下，通过仿真实验验证了张力分配算法、控制策略和机器人稳定性的准确性。

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Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism

Abstract. This study proposes a haptic interactive robot (HIR) configuration and a control strategy based on a cable-driven parallel mechanism. The ball screw drives the cable to improve the motion control accuracy. The robot system control strategy improves the accuracy and stability of haptic interaction. Through configuration optimization design and analysis, eight cables are used to ensure that the robot end effector exerts force and enables motion. Moreover, a forward and inverse kinematics model of the robot is developed. According to the configuration of the HIR, an improved cable tension distribution algorithm can facilely determine the cable tension. Hence, each cable is consistently in a tight state, and the change in tension is not sudden. Drive unit and robot system control strategies are proposed to render the haptic interaction accurate and stable. A simulation experiment of a complex space motion track is implemented through the robot end effector, thus verifying the accuracy of the established forward and inverse kinematics model. The accuracy of the tension distribution algorithm, control strategy, and robot stability are verified through simulation experiments, considering different forces and motion tracks of robot end effectors.

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来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.