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Three-dimensional static modeling method of rope-driven continuous mechanical arm

A modeling method and technology of manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems that cannot be applied to three-dimensional scenes

Active Publication Date: 2019-08-02
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

Khoshnam established the static model of the concentric tubular continuous manipulator through the equivalent of the pseudo-rigid body model, and applied it to practice; however, the model used by Khoshnam can only be used for calculation in a two-dimensional plane space. Unsuitable for 3D scenes

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  • Three-dimensional static modeling method of rope-driven continuous mechanical arm
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  • Three-dimensional static modeling method of rope-driven continuous mechanical arm

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Embodiment Construction

[0064] The present invention will be further described below with reference to the accompanying drawings and in combination with preferred embodiments.

[0065] Greigarn established a generalized pseudo-rigid body model and applied it to continuous manipulators. However, because the parameters of the pseudo-rigid body are too complex, a new optimization algorithm needs to be introduced to obtain better prediction results. Despite the previous attempts by these researchers, the application of pseudo-rigid body models to continuous manipulators is still rare. On the one hand, the PRB 3R model can only be used for calculations on a two-dimensional plane before the invention; on the other hand, the generalized form of PRB involves the optimization of parameters, and there are still many problems in the model of simplified continuous manipulators. big challenge. Most of today's continuous manipulators work in three-dimensional space, so it is necessary to extend the PRB 3R model t...

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Abstract

The invention discloses a three-dimensional static modeling method of a rope-driven continuous mechanical arm. The method comprises the following steps: (S1) three-dimensional force balance equationsof each equivalent torsion spring are built according to a three-joint false rigid body model to obtain deflection angles of each torsion spring when the rope-driven continuous mechanical arm is suffered from preset rope tension, external force and gravity; (S2) resultant force and resultant torque expressions of the rope tension, external force and gravity to each branch section terminal are built according to the deflection angles of each torsion spring; and (S3) the resultant force and resultant torque expressions of the rope tension, external force and gravity to each branch section terminal are substituted into the three-dimensional force balance equations of each torsion spring to obtain three-dimensional static balance equations of the rope-driven continuous mechanical arm. A two-dimensional plane false rigid body equivalent method is developed into three-dimensional space; and the operation efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of mechanical arm modeling, in particular to a three-dimensional static modeling method of a rope-driven continuous mechanical arm. Background technique [0002] The continuous flexible manipulator is inspired by the structure of biological organisms such as elephant trunks in nature. It is generally supported by elastic objects and connected in series with many modular joints, or directly uses a complete and uninterrupted elastic material as the manipulator body, so it has ultra-high Redundancy and even theoretically infinite degrees of freedom. This structural form makes the continuous manipulator have good movement flexibility and compliance, so it is especially suitable for obstacle avoidance operations in narrow spaces. The continuous space manipulator can pass through the truss structure and component gaps of the spacecraft, and go deep into the structure to perform tasks such as detection and mainten...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1605
Inventor 孟得山王学谦梁斌黄少平芦维宁
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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