基于多传感器融合的刚柔耦合机械臂姿态控制方法  

Research on Attitude Control of Rigid-flexible Coupling Manipulator Based on Multi-sensor

作　　者：刘文佳 郑璐恺 周杰 李胜 王洋 LIU Wenjia;ZHENG Lukai;ZHOU Jie;LI Sheng;WANG Yang(Faculty of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167

出　　处：《洛阳理工学院学报（自然科学版）》2024年第4期51-56,共6页Journal of Luoyang Institute of Science and Technology：Natural Science Edition

摘　　要：由于传统绳驱机械臂绳索驱动本身存在的传动链路长,摩擦、间隙等非线性因素影响大,传统绳驱机械臂的末端精度较低、控制也更加复杂。为确保运动柔顺性同时具备一定的负载能力,同时具有轻质量、低惯量和高刚度、高精度等特点,设计了一种具有传统关节特性并尽量减少电机的绳驱动6关节连续型机械臂,利用压力传感器采集数据建立驱动线张力与关节转角的数学模型,以实现机械臂的反馈控制。Due to the long transmission chain of the traditional rope-driven manipulator itself,the influence of nonlinear factors such as friction and clearance is large.The end precision of the traditional rope-driven manipulator is low and the control is more complicated.In order to ensure inherent compliance and the loading capacity together with light weight,low inertia,high stiffness and high precision,a 6-joint continuous manipulator driven by rope with traditional joints and minimizing the motor is designed.The pressure sensor is used to establish the mathematical model of the tension of the rope driving line and the joint angle,and the feedback control of the manipulator is realized.

关 键 词：机械臂 压力传感器 柔性机械臂 运动学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH715[自动化与计算机技术—控制科学与工程]