Mechanical Analysis of a 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Heights

Zhao Tao; Zheng Yi; Ding Xiaojun; Li Keqiang; Yang Jubiao; Zhu Yang

doi:10.16578/j.issn.1004.2539.2023.04.019

您当前的位置：

首页 >

文章列表页 >

Mechanical Analysis of a 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Heights

Test·Analysis | 更新时间：2023-05-04

- Mechanical Analysis of a 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Heights
- Journal of Mechanical Transmission Vol. 47, Issue 4, Pages: 131-137(2023)
- 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.1004.2539.2023.04.019
  CLC：
- Published：15 April 2023，
  
  Received：27 August 2022，
  
  Revised：07 September 2022，
扫描看全文
赵涛,郑逸,丁晓军等.索杆高度可变的3自由度欠约束并联机器人的力学分析[J].机械传动,2023,47(04):131-137.

Zhao Tao,Zheng Yi,Ding Xiaojun,et al.Mechanical Analysis of a 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Heights[J].Journal of Mechanical Transmission,2023,47(04):131-137.
赵涛,郑逸,丁晓军等.索杆高度可变的3自由度欠约束并联机器人的力学分析[J].机械传动,2023,47(04):131-137. DOI： 10.16578/j.issn.1004.2539.2023.04.019.

Zhao Tao,Zheng Yi,Ding Xiaojun,et al.Mechanical Analysis of a 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Heights[J].Journal of Mechanical Transmission,2023,47(04):131-137. DOI： 10.16578/j.issn.1004.2539.2023.04.019.

摘要

柔索驱动并联机器人是并联机构中的一种特殊柔性机构，通过使用柔索代替刚性杆驱动末端执行器，其综合了柔性机器人和并联机器人两方面的优点。研究了一种索杆高度可变的3自由度欠约束并联机器人，根据矢量闭环原理，建立该机器人的逆运动学模型；根据柔索的长度，推导该机器人的正运动学模型；采用拉格朗日公式，建立该机器人的动力学模型；利用Monte-Carlo方法，研究该机器人的静力学工作空间；给定末端执行器的运动轨迹，通过机器人的逆运动学模型得出3根柔索的期望长度，以3根柔索的期望长度作为实验输入，得到3根柔索的实验长度曲线和拉力曲线以及机器人的正运动学轨迹。实验结果验证了该机器人的正逆运动学和动力学模型的正确性以及工作空间的有效性。

Abstract

The cable-driven parallel robot is a special flexible mechanism in parallel mechanism

the end-effector of which is driven by cables instead of rigid rods. It integrates the advantages of flexible robots and parallel robots. A three-degree-of-freedom (3-DOF) under-constrained parallel robot with variable cable mast heights is investigated in this study. The inverse kinematics model of the robot is established by using the vector closed-loop principle. The forward kinematics model of the robot is derived according to cable lengths. The dynamics model of the robot is established based on the Lagrange formula. The static equilibrium workspace (SEW) of the robot is studied using the Monte-Carlo method. Given the motion trajectory of the end-effector

the expected three cable lengths are obtained through the inverse kinematics model of the robot. Taking the expected three cable lengths as the experimental input

the experimental curves of cable lengths and cable tensions as well as the forward kinematics trajectory of the robot are obtained. The experimental results validate the correctness of the forward and inverse kinematics models and the dynamics model of the robot

as well as the effectiveness of the SEW.

关键词

柔索驱动并联机器人索杆高度可变正逆运动学模型动力学模型静力学工作空间

Keywords

Cable-driven parallel robotVariable cable mast heightForward and inverse kinematics modelingDynamics modelingStatic equilibrium workspace

references

崔志伟，唐晓强，侯森浩，等.索驱动并联机器人可控刚度特性［J］.清华大学学报（自然科学版），2018，58（2）：204-211.

CUI Zhiwei，TANG Xiaoqiang，HOU Senhao，et al.Characteristics of controllable stiffness for cable-driven parallel robots［J］.Journal of Tsinghua University（Science & Technology），2018，58（2）：204-211.

杨继锋，姚蕊，陈捷.索牵引弹体装填机器人的尺寸优化设计［J］.清华大学学报（自然科学版），2021，61（3）：217-223.

YANG Jifeng，YAO Rui，CHEN Jie.Cable-driven projectile loading robot［J］.Journal of Tsinghua University（Science & Technology），2021，61（3）：217-223.

WANG W P，WANG X G，SHEN C L，et al.Reinforcement learning-based composite controller for cable-driven parallel suspension system at high angles of attack［J］.IEEE Access，2022，10：36373-36384.

WEI H L，QIU Y Y，SHENG Y.On the cable pseudo-drag problem of cable-driven parallel camera robots at high speeds［J］.Robotica，2019，37（10）：1695-1709.

BRUCKMANN T，STURM C，FEHIBERG L，et al.An energy-efficient wire-based storage and retrieval system［C］//2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Wollongong：IEEE，2013：631-636.

CHEN Q，ZI B，SUN Z，et al.Design and development of a new cable-driven parallel robot for waist rehabilitation［J］.IEEE/ASME Transactions on Mechatronics，2019，24（4）：1497-1507.

ZI B，WANG N，QIAN S，et al.Design，stiffness analysis and experimental study of a cable-driven parallel 3D printer［J］.Mechanism and Machine Theory，2019，132：207-222.

BRUCKMANN T，REICHERT C，MEIK M，et al.Concept studies of automated construction using cable-driven parallel robots［M］//Cable-driven parallel robots.Cham：Springer，2018：364-375.

MIERMEISTER P，LACHELE M，BOSS R，et al.The CableRobot simulator large scale motion platform based on cable robot technology［C］//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems（IROS）.Daejeon：IEEE，2016：3024-3029.

侯森浩，唐晓强，孙海宁，等.面向航天器分离的高速索力传递特性［J］.清华大学学报（自然科学版），2021，61（3）：177-182.

HOU Senhao，TANG Xiaoqiang，SUN Haining，et al.Transfer characteristics of high-speed cable forces for spacecraft separation［J］.Journal of Tsinghua University （Science & Technology），2021，61（3）：177-182.

QIAN L，YAO R，SUN J H，et al.FAST：its scientific achievements and prospects［J］.The Innovation，2020，1（3）：311-316.

钱森，钱鹏飞，王春航，等.多机协作吊装机器人动力学分析与路径规划［J］.机械工程学报，2022，58（7）：20-31.

QIAN Sen，QIAN Pengfei，WANG Chunhang，et al.Dynamics and path planning of multi-crane cooperative lifting robot［J］.Journal of Mechanical Engineering，2022，58（7）：20-31.

刘积彧.柔索驱动六自由度并联机器人的优化设计［D］.天津：中国民航大学，2018：10-26.

LIU Jiyu.Optimized design of a 6-DOF cable-driven parallel robot［D］.Tianjin：Civil Aviation University of China，2018：10-26.

ZHANG Z K，SHAO Z F，YOU Z，et al.State-of-the-art on theories and applications of cable-driven parallel robots［J］.Frontiers of Mechanical Engineering，2022，17（3）：37.

RUSHTON M，KHAJEPOUR A.Variable-structure cable-driven parallel robots［M］//Cable-driven parallel robots.Cham：Springer，2021：206-214.

RASHEED T，LONG P，CARO S.Wrench-feasible workspace of mobile cable-driven parallel robots［J］.Journal of Mechanisms and Robotics，2020，12（3）：031009.

ANSON M，ALAMDARI A，KROVI V.Orientation workspace and stiffness optimization of cable-driven parallel manipulators with base mobility［J］.Journal of Mechanisms and Robotics，2017，9（3）：031011.

ZHOU L L，XU W F，CHEN H Y，et al.Design and kinematic analysis of a modular re-configurable cable-driven parallel robot［C］//2018 IEEE International Conference on Real-time Computing and Robotics.Kandima：IEEE，2018：620-625.

DUAN Q J，DUAN X C.Workspace classification and quantification calculations of cable-driven parallel robots［J］.Advances in Mechanical Engineering，2014（6）：358727.

ZHAO T，ZI B，QIAN S，et al.Algebraic method-based point-to-point trajectory planning of an under-constrained cable-suspended parallel robot with variable angle and height cable mast［J］.Chinese Journal of Mechanical Engineering，2020，33（4）：53-70.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

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

Related Author

Zhao Tao

Ding Xiaojun

Zhao Hu

Ma Jianrui

Related Institution

College of Electrical and Information Engineering, North Minzu University

⁰