Robot cable modeling method under curved surface constraint

Abstract

The invention relates to a robot cable modeling method under curved surface constraint. The method comprises the following steps of simplifying the cross section of an operation robot constraint cableinto a circular cross section; statically analyzing the simplified cable to obtain a cable nonlinear mechanical model; discretizing by adopting a finite difference method to obtain a discretized mathematical model; adding a cable curved surface constraint, a fixed-length condition constraint and a boundary condition constraint in an operation robot space; and solving the constrained discrete mathematical model by using a nonlinear least square algorithm based on trust region strategy adjustment to obtain Euler parameters and mechanical properties of all cable discrete points. According to a solving result, the correctness and reasonability of the method are verified; and the form of the high-precision operation robot cable is fitted by using the Euler parameters obtained through solving,so that the effectiveness and correctness of the method are verified, the mechanical properties of robot cable discrete points are obtained, and important support is provided for weakening the stableparting of the high-precision operation robot joint.

Description

technical field [0001] The invention relates to the technical field of high-precision manipulating robots, in particular to a modeling method for a robot cable under the constraint of a curved surface. Background technique [0002] Under the coupling of multi-dimensional physical fields, limited by the limited operating space of the robot, the power output of the high-precision operation motor is often relatively small, and the robot joints are generally weaker than ordinary robot joints. In extreme environments such as ultra-low temperature, the special strong cable covered by the safety shielding layer will cause strong nonlinear interference to the joints of the weak and high-precision operation robot. At present, the mechanical modeling method for flexible cables only exists under the constraints of both ends of the cable, and cannot be used to model special cables subject to space constraints under the coupling of high-precision manipulative multi-dimensional physical f...

AI Technical Summary

Problems solved by technology

In extreme environments such as ultra-low temperature, the special strong cable covered by the safety shielding layer will cause strong nonlinear interference to the joints of the weak and high-precision operation robot

At present, the mechanical modeling method for flexible cables only exists under the constraints of both ends of the cable, and cannot be used to model special cables subject to space constraints under the coupling of high-precision manipulative multi-dimensional physical fields. The stability analysis of the

Existing methods do not involve special high-precision manipulation of the cable method when the robot cable is in contact with a curved surface

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