绳牵引机器人加入弹簧后刚度分析

发布时间：2019-06-13 06:59

【摘要】：刚度是机器人重要的设计评价指标之一,不仅影响机构的动态特性,还决定机器人在负载情况下末端执行器的定位精度。对于n自由度的绳索牵引并联机器人,由于绳索只能承受拉力而不能承受压力,故至少要由n+1根绳索来驱动,冗余驱动的绳索拉力求解非常复杂。当在绳索牵引并联机器人中适当位置引入弹簧,构成绳索-弹簧机构,则可以实现n自由度的绳索-弹簧机构由n根绳索驱动。从刚度的基本定义出发,在绳索-弹簧机构静力学平衡方程的基础上推导出机构在可行工作空间内不同位姿点处的刚度矩阵解析表达式,即被动刚度矩阵和主动刚度中海瑟矩阵的解析式。加入弹簧后,绳索驱动机器人在力封闭可行工作空间内的主、被动刚度增加,并以3根绳索1根弹簧和4根绳索的平面3自由度机构模型的数值算例进行了验证。
[Abstract]:Stiffness is one of the important design evaluation indexes of robot, which not only affects the dynamic characteristics of the mechanism, but also determines the positioning accuracy of the end actuator under load. For the rope traction parallel robot with n degrees of freedom, because the rope can only bear the tension and not bear the pressure, it must be driven by at least n 1 rope, and the solution of redundant rope tension is very complex. When the spring is introduced into the rope traction parallel robot to form the rope-spring mechanism, the rope-spring mechanism with n degrees of freedom can be driven by n ropes. Based on the static equilibrium equation of rope-spring mechanism, the analytical expressions of stiffness matrix at different position and attitude points of the mechanism in feasible workspace are derived from the basic definition of stiffness, that is, the analytical expressions of passive stiffness matrix and Heather matrix in active stiffness. With the addition of spring, the active and passive stiffness of the rope-driven robot in the force-closed feasible workspace increases, and the numerical examples of the planar 3-degree-of-freedom mechanism model of three ropes, one spring and four ropes are verified.
【作者单位】：西安电子科技大学机电工程学院;
【基金】：陕西省自然科学基础研究计划资助项目(2016JM5034) 教育部留学回国人员科研启动金(JY0600150401)
【分类号】：TP242

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