绳驱动柔性机器人运动学建模及主从控制研究  

Kinematics modeling and master-slave control for rope driven flexible robot

作　　者：朱靖 齐飞 佘世刚 张恒 裴海珊 ZHU Jing;QI Fei;SHE Shi-gang;ZHANG Heng;PEI Hai-shan(School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213016,China)

机构地区：[1]常州大学机械与轨道交通学院,江苏常州213016

出　　处：《机电工程》2023年第2期266-274,共9页Journal of Mechanical & Electrical Engineering

基　　金：中国博士后科学基金资助项目(2022M711436);江苏省教育厅科研基金资助项目(21KJB460029);江苏省研究生科研与实践创新基金资助项目(KYCX21_2787)。

摘　　要：针对目前组装式绳驱动柔性机器人存在的装配复杂、控制精度差与刚度低等问题,提出了一种用于狭小空间探测的超冗余绳驱动柔性机器人。首先,设计了一种通过卯榫连接的绳驱动柔性机械臂,基于常曲率假设,利用MATLAB软件建立了该机器臂的运动学模型,并对其工作空间与绳长变化量进行了仿真分析;然后,分别设计了基于上位机软件界面和增量映射模型的主从控制方法;最后,搭建了单关节的柔性检测机器人系统样机平台,并通过旋转弯曲与负载弯曲试验,对所建模型和控制策略进行了验证。研究结果表明:新构型柔性机器臂可以解决柔性机器人刚度较低的问题,其运动特性明显优于芯柱型柔性机器人,其负载能力达到250 g时,末端位置的控制误差小于8%,满足柔性机器人的控制需求。Aiming at the problem of complex assembly,poor control accuracy,and low stiffness of assembled rope-driven flexible robots,a huper-redundant flexible robot driven by the rope used in narrow space exploration was designed.Firstly,a flexible manipulator driven by the rope connected with mortise and tenon was intended.Based on the equal-curvature bending model and Monte Carlo method,the kinematic model of the manipulator was established by MATLAB software,and the variation of its working space and rope length was simulated and analyzed.Then,the two control methods were designed respectively.The upper computer software controlled the first method,and the other was the master-slave control based on the incremental mapping model.Finally,a single joint flexible detection robot system prototype platform was built,and the model and control strategy was verified by the rotational bending and load bending experiments.Simulation and experimental data show that the new flexible manipulator can solve the problem of low stiffness of hyper-redundant flexible robots,and its kinematic characteristics and workspace are significantly better than core-type flexible robots.When the bearing capacity reaches 250 g,the end position control error is less than 8%.It has good stiffness and load capacity and meets the control requirements of flexible robots.

关 键 词：连续体机器人 机器人刚度 常曲率建模 控制策略 旋转/负载弯曲试验 控制精度与刚度 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]