深海绳驱动蛇形机械臂运动学控制研究  

Kinematic control of a cable-driven snake-like manipulator for deep-water

作　　者：薛福峰 樊宇 张鑫 樊智敏[1] XUE Fu-feng;FAN Yu;ZHANG Xin;FAN Zhi-min(College of Electromechanical Engineering,Qingdao University of Science and Technology,Qingdao 266061,China;FAW Jiefang Qingdao Automobile Co.,Ltd.,Qingdao 266043,China)

机构地区：[1]青岛科技大学机电工程学院,山东青岛266061 [2]一汽解放青岛汽车有限公司,山东青岛266043

出　　处：《机电工程》2023年第4期522-527,570,共7页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(52075279)。

摘　　要：传统的水下机械臂具有体积大、结构复杂、空间受限等缺陷,在水下环境中表现性能不佳。为了完成空间狭小、环境危险以及任务复杂条件下的水下作业,设计了一种适用于深海作业的绳驱动蛇形机械臂。首先,采用齿轮-齿条的结构形式,通过1个驱动电机完成了对2根传动绳的实时控制,减少了驱动电机的数量,降低了水下机械臂的能源消耗;然后,基于蛇形机械臂的结构特点,构建了驱动电机、传动绳、关节、末端执行器之间的多级映射关系,建立了其相应的运动学方程,并对该方程进行了求解;最后,根据绳驱动蛇形机械臂之间的多级映射关系,提出了一种基于模糊控制器的运动学控制策略,减小了由传动系统引起的跟踪误差,解决了难以获得绳驱动蛇形机械臂精确动力学模型的问题;并采用MATLAB对绳驱动蛇形机械臂的跟踪误差进行了仿真分析。研究结果表明:该绳驱动蛇形机械臂的偏航角最大绳长跟踪误差不超过0.05 mm,俯仰角最大绳长跟踪误差不超过0.09 mm,验证了基于模糊控制器的运动学控制策略的有效性。The traditional underwater manipulator has large volume,complex structure and limited space,and its performance in underwater environment is poor.In order to complete underwater operations under the conditions of narrow space,dangerous environment and complex tasks,a cabledriven snake-like manipulator(CDSLM)was designed for complicated underwater scenarios.Firstly,driven by a gear-rack structure,a servomotor was used to control two transmission cables simultaneously,and thus the number of the motors and energy consumption of cable-driven snake-like manipulator were reduced.Apart from it,the multi-level mapping between the motors,cables,joints and the end-effector was analyzed,and the corresponding kinematics equations were deduced and solved.Finally,according to the multi-level mapping relationship between cable-driven snake-like manipulators,a control strategy based on fuzzy controller was designed to reduce the tracking error caused by the transmission system and realize the precise control of the pose of the snake-like manipulator,which solves the problem that it was difficult to obtain an accurate dynamic model of the cable-driven snake-like manipulator.The MATLAB was used to analyze the tracking performance of cable-driven snake-like manipulator.The results show that the yaw angle maximum tracking error of cable-driven snake-like manipulator does not exceed 0.05 mm,the pitch angle maximum tracking error is less than 0.09 mm,which verifies the effectiveness of the kinematics control strategy based on fuzzy controller.

关 键 词：深海作业 绳驱动 蛇形机械臂 模糊控制器 运动学控制 多级映射关系 

分 类 号：TH-39[机械工程] TP242[自动化与计算机技术—检测技术与自动化装置]