Kinematics Control of 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Angles

Zhao Tao; Ding Xiaojun; Zhao Hu; Zheng Yi; Ma Jianrui

doi:10.16578/j.issn.1004.2539.2022.12.011

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Kinematics Control of 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Angles

Design· Calculation | 更新时间：2023-01-06

- Kinematics Control of 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Angles
- Journal of Mechanical Transmission Vol. 46, Issue 12, Pages: 73-78(2022)
- 作者机构：
  
  1.北方民族大学机电工程学院，宁夏银川 750021
  2.北方民族大学电气信息工程学院，宁夏银川 750021
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.12.011
  CLC：
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赵涛,丁晓军,赵虎等.索杆夹角可变的3自由度欠约束并联机器人的运动学控制[J].机械传动,2022,46(12):73-78.

Zhao Tao,Ding Xiaojun,Zhao Hu,et al.Kinematics Control of 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Angles[J].Journal of Mechanical Transmission,2022,46(12):73-78.
赵涛,丁晓军,赵虎等.索杆夹角可变的3自由度欠约束并联机器人的运动学控制[J].机械传动,2022,46(12):73-78. DOI： 10.16578/j.issn.1004.2539.2022.12.011.

Zhao Tao,Ding Xiaojun,Zhao Hu,et al.Kinematics Control of 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Angles[J].Journal of Mechanical Transmission,2022,46(12):73-78. DOI： 10.16578/j.issn.1004.2539.2022.12.011.

摘要

柔索驱动并联机器人是一种特殊类型的并联机器人，其末端执行器由柔索替代刚性杆进行驱动。研究了一种索杆夹角可变的3自由度欠约束并联机器人，采用矢量闭环原理建立该机器人的逆运动学模型；根据拉格朗日方程，建立了该机器人的动力学模型。基于模型补偿的机器人PD控制理论，设计了该机器人的PD控制器；给定机器人末端执行器的运动轨迹，使末端执行器的位姿变化通过机器人的逆运动学转化为柔索长度的变化，以柔索长度作为控制系统的输入。实验结果验证了该机器人的逆运动学和动力学模型的正确性及控制方法的有效性。

Abstract

The cable-driven parallel robot is a special type of parallel robots whose end-effector is driven by cables instead of rigid rods. A three-degree-of-freedom (3-DOF) under-constrained parallel robot with variable cable mast angle is studied. The inverse kinematics model of the robot is established by using the vector closed-loop principle. According to the Lagrange equation, the dynamics model of the robot is established. Based on the robot PD control theory of model compensation, a PD controller of the robot is designed. Given a motion trajectory of the end-effector of the robot, the pose change of the end-effector is transformed into cable length change through the inverse kinematics of the robot. The cable length is used as the input of the control system. The experimental results verify the correctness of the inverse kinematics and dynamics model of the robot and the effectiveness of the control method.

关键词

柔索驱动并联机器人索杆夹角可变逆运动学模型动力学模型机器人PD控制

Keywords

Cable-driven parallel robotVariable cable mast angleInverse kinematics modelDynamics modelPD control of robot

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