冗余约束绳驱并联机器人的位姿正解

陶冶; 张尚盈; 王彦伟

doi:10.16578/j.issn.1004.2539.2020.07.003

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冗余约束绳驱并联机器人的位姿正解

理论研究 | 更新时间：2022-10-20

- 冗余约束绳驱并联机器人的位姿正解
- Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot
- 机械传动 2020年44卷第7期页码：19-23
- 作者机构：
  
  1.武汉工程大学机电工程学院，湖北武汉 430205
- 作者简介：
  
  陶冶（1996— ），男，湖北黄冈人，硕士研究生，主要研究方向为绳驱动并联机器人技术。
- 基金信息：
  
  国家自然科学基金(51375186)
- DOI：10.16578/j.issn.1004.2539.2020.07.003
  中图分类号：
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陶冶,张尚盈,王彦伟.冗余约束绳驱并联机器人的位姿正解[J].机械传动,2020,44(07):19-23.

Tao Ye Zhang Shangying Wang Yanwei.Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot[J].Journal of Mechanical Transmission,2020,44(07):19-23.
陶冶,张尚盈,王彦伟.冗余约束绳驱并联机器人的位姿正解[J].机械传动,2020,44(07):19-23. DOI： 10.16578/j.issn.1004.2539.2020.07.003.

Tao Ye Zhang Shangying Wang Yanwei.Forward Position Solution of Redundantly Constrained Cable-driven Parallel Robot[J].Journal of Mechanical Transmission,2020,44(07):19-23. DOI： 10.16578/j.issn.1004.2539.2020.07.003.

摘要

提出一种基于Levenberg-Marquardt方法求解并联机器人的位姿正解算法。建立一种冗余约束的绳驱并联机器人运动学模型，将机构参数化以求解位姿反解问题。建立非线性正解方程组，取末端执行器的原始位姿作为迭代初值，运用所提出的算法求解位姿正解。利用Matlab/Simulink/xPC工具进行仿真实验，选取复杂的周期性圆曲线作为并联机器人的运动轨迹，进行实时仿真；经验证，该算法可完成精确的位姿正解运算，实现平稳的运动轨迹，具有良好的实时性。选取5种位姿组合，验证该算法的高效性，验算结果表明，该算法迭代次数少、运算时间短、求解精度高，为实现并联机器人的实时监测和复杂控制策略提供了一定的理论指导。

Abstract

An algorithm for solving the forward position solution problem of the parallel robot based on Levenberg-Marquardt method is proposed. A kinematics model of a redundantly constrained cable-driven parallel robot is established，and the mechanism is parameterized to solve the inverse position solution problem. The nonlinear equations of forward kinematics are established，and the original pose of the end effector is taken as the iterative initial value to solve the forward position solution problem by applying the proposed algorithm. The Matlab/Simulink/xPC tool is used for simulation experiments. The complex periodic circular curve is selected as the motion trajectory of the parallel robot for the real-time simulation. It is verified that the algorithm can achieve accurate forward position solution and smooth motion trajectory，and has good real-time performance. Five pose combinations are selected to verify the high efficiency of the algorithm. The calculation results show that the algorithm has fewer iterations，shorter computation time and higher accuracy，which provides a theoretical guidance for real-time monitoring and complex control strategies of parallel robots.

关键词

绳驱并联机器人冗余约束 Levenberg-Marquardt方法位姿正解

Keywords

Cable-driven parallel robotRedundant constraintLevenberg-Marquardt methodForward position solution

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