Science Technology and Engineering
1671-1815
2024
24
19
8142
8149
10.12404/j.issn.1671-1815.2305202
article
三自由度欠约束柔索驱动并联机器人的轨迹规划
Trajectory planning of a 3-DOF under-constrained cable-suspended parallel robot
柔索驱动并联机器人是一种特殊的并联机器人,属于柔性机器人的一类,它的末端执行器是由柔索代替刚性杆驱动实现其位姿的变化。本文研究了一种三自由度欠约束柔索驱动并联机器人,采用矢量闭环原理建立该机器人的逆运动学方程；根据拉格朗日公式建立该机器人的动力学方程；给定机器人末端执行器的运动轨迹,采用五次多项式进行规划,得出规划前后X、Y和Z方向的位移、速度和加速度曲线,在速度突变的点处,规划后的速度和加速度曲线实现光滑过渡,避免机器人在运动过程中发生振动和冲击,使得机器人末端执行器的运动轨迹平滑；三根柔索长度和拉力的实验曲线与规划后的期望曲线基本吻合,相机追踪轨迹与五次多项式规划后的运动轨迹基本一致；数值仿真和实验结果验证了三自由度欠约束柔索驱动并联机器人的逆运动学和动力学分析的正确性,以及五次多项式规划的有效性。
Cable-suspended parallel robot is a special type of parallel robot that belongs to the category of flexible robots. End-effector is driven by cables instead of rigid rods to achieve the change of its pose. A three-degree-of-freedom (3-DOF) under-constrained cable-suspended parallel robot is studied in this paper. The inverse kinematics equation of the robot is established based on the vector closed-loop principle. The dynamics equation of the robot is established according to the Lagrange formula. Given the motion trajectory of the robot’s end-effector, and the quintic polynomial is adopted to plan the motion trajectory of the robot. The unplanned and planned position, velocity and acceleration curves in the X, Y and Z directions are obtained. At the points where the velocity changes abruptly, the planned velocity and acceleration curves achieve smooth transition to avoid vibration and impact during the robot’s movement, so as to smooth the motion trajectory of the end-effector. The experimental curves of the length and tension of three cables are basically consistent with the planned expected curves, and the camera tracking trajectory is basically consistent with the motion trajectory after the quintic polynomial planning. Numerical simulation and experimental results validate the correctness of the inverse kinematics and dynamics analysis of the 3-DOF under-constrained cable-suspended parallel robot, as well as the effectiveness of the quintic polynomial planning.
柔索驱动并联机器人，逆运动学分析，动力学分析，轨迹规划
Cable-suspended parallel robot, Inverse kinematics analysis, Dynamics analysis, Trajectory planning
赵涛,何燕妮,高永航,李旺,王欢
Zhao Tao, He Yanni, Gao Yonghang, Li Wang, Wang Huan
jsygc/article/abstract/2305202