基于绳驱并联机器人系统刚度的力/位混合控制  

Force/Position Hybrid Control for Cable-driven Parallel Robots Based on the System Stiffness

作　　者：陈科举 张尚盈 张继磊 罗诗洋 张博伟 Chen Keju;Zhang Shangying;Zhang Jilei;Luo Shiyang;Zhang Bowei(School of Mechanical and Electrical Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Wuhan Yuqiong Technology Co.,Ltd.,Wuhan 430205,China)

机构地区：[1]武汉工程大学机电工程学院,湖北武汉430205 [2]武汉誉琼科技有限公司,湖北武汉430205

出　　处：《机械传动》2023年第8期130-134,共5页Journal of Mechanical Transmission

基　　金：武汉工程大学第十三届研究生教育创新基金(CX2021066)。

摘　　要：对8绳6自由度绳驱并联机器人进行支撑刚度分析,基于刚度模型进行了力/位混合控制研究。首先,对绳驱并联机器人进行系统描述;接着,根据矢量封闭原理进行运动学分析,并对动平台进行受力分析,推导出静力平衡方程;然后,在操作空间通过刚度矩阵建立负载变化与位姿变化之间的关系,推导出支撑刚度的解析表达式,进而分析了影响支撑刚度的因素。另外,考虑系统刚度、动平台位姿精度和力控制稳定性等因素,综合出力/位混合控制器。仿真结果表明,在系统刚度基础上提出的力/位混合控制策略有效降低了动平台的位姿误差。最后,通过实验验证了刚度模型与力/位混合控制策略的准确性和有效性。The supporting stiffness analysis of the eight-cable 6-DOF cable-driven parallel robot is conducted,and the force/position hybrid control is carried out on this basis.Firstly,the cable-driven parallel robot is described systematically.Secondly,a kinematic analysis is conducted according to the principle of vector closure.The force of the mobile platform is analysed,and the static equilibrium equation is derived by Newtonian mechanics.After that,the relationship between the load change and the position change is described by the stiffness matrix in the operational space,the analytical expression of the supporting stiffness is deduced,and the influencing factors of supporting stiffness are analysed.Moreover,the factors of system stiffness,mobile platform posture accuracy and force control stability are considered,integrating the force/position hybrid controller.The simulation results show that the position error of the mobile platform is effectively reduced by the force/position hybrid control strategy,which is designed based on the stiffness analysis.Finally,the accuracy and effectiveness of the stiffness model and the force/position hybrid control strategy are verified by experiments.

关 键 词：绳驱并联机器人 支撑刚度 力/位混合控制 动平台 位姿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]