Kinematics speed solving method of cable-driven parallel robot with variable structure

Abstract

The invention discloses a cable-driven parallel robot with a variable structure. The cable-driven parallel robot comprises a structural frame, a high-precision cable traction device, a linear moving device, a universal guiding device, a spatial mobile platform, universal traction devices, a cable and other parts. According to the cable-driven parallel robot with the variable structure, cable length and tension are changed through the high-precision cable traction device, so that the spatial mobile platform is controlled to move in a working space, and therefore object carrying, hoisting, maintaining and spraying work and other work are completed; spatial structure deformation is achieved through the linear moving device, and the spatial configuration can be adjusted according to the environment to meet different task requirements; and in addition, the plurality of universal traction devices are further arranged on the spatial mobile platform, and the load capacity and the system rigidity of the robot are improved through the traction force amplification effect of spatial movable pulley blocks. The invention further discloses a kinematics speed solving method of the cable-driven parallel robot with the variable structure, the method belongs to the field of robot motion control, kinematics modeling is performed on the cable-driven parallel robot with the variable structure basedon the screw theory, and a mapping model about the cable length and the spatial mobile platform pose is obtained.

Description

technical field [0001] The invention relates to the field of control of a cable-drawn parallel robot, in particular to a method for solving kinematics speed of a variable-structure cable-drawn parallel robot. Background technique [0002] The rope traction parallel robot has the characteristics of strong load capacity, small motion inertia and large working space, and is widely used in large-scale equipment hoisting, aviation simulation support system and logistics storage, etc.; the rope indexing point of traditional rope traction parallel robot is fixed on the structural frame It can also be called a fixed-structure rope traction case robot; the fixed rope traction parallel robot can change the position and attitude of the space moving platform by controlling the length of the rope in the workspace, so as to complete various complex tasks; but limited by the fixed structure Due to the limitations of the fixed-structure rope-pulled parallel robot, the application range is l...

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Problems solved by technology

[0002] The rope traction parallel robot has the characteristics of strong load capacity, small motion inertia and large working space, and is widely used in large-scale equipment hoisting, aviation simulation support system and logistics storage, etc.; the rope indexing point of traditional rope traction parallel robot is fixed on the structural frame It can also be called a fixed-structure rope traction case robot; the fixed rope traction parallel robot can change the position and attitude of the space moving platform by controlling the length of the rope in the workspace, so as to complete various complex tasks; but limited by the fixed structure Due to the limitations of the fixed-structure rope-pulled parallel robot, the application range is limited, the obstacle avoidance ability is poor, and the mechanical properties are poor, which restricts the development and further application of the rope-pulled parallel robot;

[0003] The Chinese patent No. ZL201710253505.2 discloses a multi-configuration cable-driven parallel robot and its space pose solution method. The invention discloses a multi-configuration cable-driven parallel robot, which is equipped with multiple The main frame, the moving platform and some ropes; the rope-tracted parallel robot can realize multiple configuration reconfigurations, but it cannot realize continuous automatic reconfiguration, and thus cannot realize continuous reconfigurable motion control through motion control methods; its The space pose solution method can only be applied to this kind of multi-configuration rope-pulled parallel robot, and cannot be applied to the rope-pulled parallel robot with continuously variable structure.

[0004] The Chinese patent application number 201110026500.9 discloses a cable-driven parallel robot capable of rapid reconfiguration. The device is provided with a drive module, a reversing device, and an output device, but the device can only be reconfigured within a limited range. The refactoring process must be done manually, and continuous reconfigurable automatic control cannot be achieved

[0005] The space dynamic platform velocity and the kinematic joint velocity of the rope robot can be collectively referred to as the kinematic velocity. At present, there is no effective solution method for the kinematic velocity of the variable structure rope traction parallel robot, and it is impossible for the motion planning and motion of the variable structure rope traction parallel robot. Control provides technical support

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