CN104440870A - Variable structure parameter flexible rope parallel connection robot system and control method - Google Patents

Variable structure parameter flexible rope parallel connection robot system and control method Download PDF

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Publication number
CN104440870A
CN104440870A CN201410571166.9A CN201410571166A CN104440870A CN 104440870 A CN104440870 A CN 104440870A CN 201410571166 A CN201410571166 A CN 201410571166A CN 104440870 A CN104440870 A CN 104440870A
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control
way hydraulic
compliant assembly
control board
end effector
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CN104440870B (en
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訾斌
钱森
刘浩
王道明
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Hefei University of Technology
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Hefei University of Technology
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Abstract

The invention discloses a variable structure parameter flexible rope parallel connection robot system and a control method. The system comprises a flexible rope parallel connection robot, a flexible rope parallel connection robot liquid circuit system, a flexible rope parallel connection robot control circuit and a flexible rope parallel connection robot control system. The method comprises the step that through parameters collected by a feedback module in the control system, a master industrial personal computer in the control system controls a movement control board card to send a control instruction to the flexible rope parallel connection robot control circuit. The variable structure parameter flexible rope parallel connection robot system and the control method can effectively control the variable robot mechanism parameters to finish large-load running and wide-range working space high-performance movement output, and space three-dimensional translational freedom degree high-precision movement of a tail end actuator of a controlled object is achieved.

Description

Varistructure parameter Compliant Assembly system and control method
Technical field
The present invention relates to parallel robot control field, specifically a kind of varistructure parameter Compliant Assembly system and control method.
Background technology
Compliant Assembly has that structure is simple, working space is large, easy to assemble, can recombinate, the degree of modularity is high, load capacity is strong, movement velocity is fast and lower-price characteristic.At present, the Compliant Assembly of the various free degree has investigation and application widely at home and abroad.Chinese patent 01127939.7 discloses a kind of Wire driven robot 3-dof parallel robot, Chinese patent 200910070056.3 discloses a kind of two degrees of freedom Compliant Assembly, and Chinese patent 200910233341.2 discloses a kind of Compliant Assembly realizing Three Degree Of Freedom and adopt combination drive five-bar mechanism to drive.The comprehensive above Compliant Assembly occurred, flexible cable parallel architecture mechanism is fixed in main employing, and drive flexible cable to realize controlled device end effector desired motion by motor, limit and realize the ability that flexible cable parallel mechanism completes high capacity, large working space job task.In this case, need to improve original Compliant Assembly system by machinery and electronic technology, develop a kind of compact conformation, easy to operate, there is high capacity, greatly working space job task ability, system responses is quick, information processing capability is strong, the Compliant Assembly control system of good reliability.
summary of the inventionthe object of this invention is to provide a kind of varistructure parameter Compliant Assembly system and control method, to solve prior art Problems existing.
In order to achieve the above object, the technical solution adopted in the present invention is:
Varistructure parameter Compliant Assembly system, is characterized in that: comprise Compliant Assembly, the liquid-way system of Compliant Assembly, Compliant Assembly control circuit, Compliant Assembly control system, wherein:
Described Compliant Assembly includes horizontally disposed ring-shaped guide rail, slide on rails is provided with multiple pedestal, described pedestal is respectively arranged with servomotor, two-way hydraulic motor, wherein servo motor transmission is connected with gearbox, the driving wheel be connected with gearbox transmission is rotatablely equipped with respectively in each pedestal, each pedestal is slidably mounted on guide rail respectively by driving wheel, two-way hydraulic motor is connected with reductor, speed reducer drive is connected with hoist engine, each pedestal is also vertically provided with the two-way hydraulic cylinder of liquid electricity combination drive, two-way hydraulic cylinder pars contractilis top is rotatablely equipped with guiding fixed pulley respectively, guiding fixed pulley has walked around flexible cable respectively, on the hoist engine of each flexible cable one end difference multiple-turns wound on each self-corresponding pedestal, multiple flexible cable other end stretches to ring-shaped guide rail overcentre respectively and is jointly connected with end effector,
The liquid-way system of described Compliant Assembly comprises hydraulic pump, the input of hydraulic pump is connected with external hydraulic oil sources, hydraulic pump has two-way to export, wherein a road exports by a solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic cylinder, and another road exports by another solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic motor;
Described Compliant Assembly control circuit comprises Wire driven robot mechanism control circuit, telescopic flexible cable pillar control circuit, movable base control circuit, movable base control circuit is made up of the motor servo driver that servomotor quantity is identical, Wire driven robot mechanism control circuit is made up of the proportional amplifier one identical with two-way hydraulic motor quantity, telescopic flexible cable pillar control circuit is made up of the proportional amplifier two identical with two-way hydraulic cylinder quantity, wherein the output one_to_one corresponding of motor servo driver is connected with each servomotor, the output of proportional amplifier one is connected with the solenoid-operated proportional reversal valve of fuel feeding to each two-way hydraulic motor respectively, the output of proportional amplifier two is connected with the solenoid-operated proportional reversal valve of fuel feeding to each two-way hydraulic cylinder respectively, each motor servo driver, the input of proportional amplifier accesses Compliant Assembly control system respectively,
Described Compliant Assembly control system comprises the master control industrial computer of band communication interface, with the motion control board of communication module, human-computer interaction interface, feedback module, described human-computer interaction interface access master control industrial computer, master control industrial computer is interrogated with motion control board cartoon and is connected, each motor servo driver, the input of proportional amplifier is respectively by CAN access motion control board, and the one_to_one corresponding of group more than described feedback module comprises is arranged on the photoelectric encoder on servomotor, many groups one_to_one corresponding is arranged on the grating displacement sensor on two-way hydraulic cylinder, many groups are arranged on the laser range sensor on end effector jointly, proximity transducer, gravity sensor, and many group one_to_one corresponding are arranged on force cell in flexible cable and stay wire displacement sensor, described photoelectric encoder, pattern displacement sensing, laser range sensor, proximity transducer, gravity sensor, force cell, the data output end of stay wire displacement sensor accesses motion control board feedback input end respectively.
Described varistructure parameter Compliant Assembly system, it is characterized in that: in described liquid-way system, hydraulic pump and input have access to filter, and hydraulic pump also has access to overflow valve.
Described varistructure parameter Compliant Assembly system, it is characterized in that: communicate in universal serial bus mode between master control industrial computer, motion control board, motor servo driver, proportional amplifier and feedback module, form a communications network system.
A control method for varistructure parameter Compliant Assembly system, is characterized in that: comprise the following steps:
(1), carry out the initialization of system, whether well detect network communication state between modules, the initial position co-ordinates of artificial input end effector, the destination coordinate according to setting carries out global path planning;
(2) each sensor unit, is opened, detect the real-time status being arranged on each sensor input and feedback various types of signal on varistructure parameter Compliant Assembly, generate the on-the-spot path of energy actual motion, the track running route of end effector and ride the feedback signal of sensor all by communication device real-time update and display on man-machine interactive interface, is convenient to monitoring and debugging;
(3), during the end effector motion of varistructure parameter Compliant Assembly traction controlled device, be arranged on the individual laser range sensor on end effector, gravity sensor and proximity transducer, and the force cell be arranged on respectively in four flexible cables, the corresponding data recorded is sent to the feedback input end of motion control board, the real-time manipulate measurement data of motion control board also sends to master control industrial computer by communication module measurement data, master control industrial computer is presented at the data of various kinds of sensors signal on man-machine interactive interface timely, be convenient to monitoring and debugging,
(4), master control industrial computer carries out analyzing and processing, finishing man-machine interaction function and Compliant Assembly Mechanics Calculation to the received signal, and control system is resolved, and obtain control instruction, control instruction sends motion control board to by communication interface;
(5) all kinds of control instructions that, motion control board card docking is subject to comprehensively are analyzed, calculate control signal, respectively signal is sent to Wire driven robot mechanism control circuit in the control circuit of Compliant Assembly, telescopic flexible cable pillar control circuit and movable base control circuit, complete and control in real time Compliant Assembly and carry out flexible, the movement that pedestal is on circular guideway of two-way hydraulic cylinder and the receipts rope of four flexible cables and put rope coordination, and then realize the high-precision motion of the controlled device end effector spatial three-dimensional translational free degree, wherein:
Be arranged on stay wire displacement sensor in flexible cable for measuring displacement and the rate signal of flexible cable, motion control board carries out control treatment to this signal, the instruction sent is used for controlling corresponding solenoid-operated proportional reversal valve through proportional amplifier one amplification, external hydraulic pump extracts hydraulic oil through solenoid-operated proportional reversal valve for two-way hydraulic motor provides motive power by filter, solenoid-operated proportional reversal valve is by regulating the fluid flow flowing through two-way hydraulic motor and then the rotating speed controlling two-way hydraulic motor, from the rotating speed feeding back to adjustment two-way hydraulic motor of stay wire displacement sensor, form a velocity feedback mechanism two-way hydraulic motor invariablenes turning speed, two-way hydraulic motor drives hoist engine and then is ensured the constant of flexible cable speed,
The grating displacement sensor be arranged on two-way hydraulic cylinder records telescopic displacement and the rate signal of hydraulic cylinder, motion control board carries out control treatment to this signal, the instruction sent is used for controlling corresponding solenoid-operated proportional reversal valve through proportional amplifier two amplification, external hydraulic pump extracts hydraulic oil through solenoid-operated proportional reversal valve for two-way hydraulic cylinder provides motive power by filter, solenoid-operated proportional reversal valve is by regulating telescopic displacement and the rate signal of fluid flow and then the control two-way hydraulic cylinder flowing through two-way hydraulic cylinder, from the telescopic displacement feeding back to control two-way hydraulic cylinder and the speed of grating displacement sensor, form speed feedback control thus ensure that hydraulic cylinder speed is constant,
The photoelectric encoder be arranged on servomotor records corner and tach signal, and motion control board carries out control treatment to this signal, and forms speed feedback control to ensure servomotor invariablenes turning speed with the photoelectric encoder interface feeding back to motion control board;
(6) laser range sensor on end effector, gravity sensor and proximity transducer, is arranged on, and the force cell be arranged on respectively in four flexible cables, further will detect end effector position, gravity and proximity state and flexible cable stress state and be sent to the feedback input end of motion control board in time, the real-time manipulate measurement data of motion control board also sends to master control industrial computer by communicator measurement data; By man-machine interactive interface can real-time monitored to the pose of end effector and three-dimensional space motion image information, and corresponding operation can be carried out realize the time-out of end effector and continue to execute the task.
The present invention proposes a kind of varistructure parameter Compliant Assembly control system and method, this system effectively can control alterable machines robot mechanism parameter and complete heavy load running, on a large scale working space high-performance movement output, realizes the high-precision motion of the controlled device end effector spatial three-dimensional translational free degree.
Beneficial effect of the present invention is: varistructure parameter Compliant Assembly control system of the present invention and method, adopt electro-hydraulic servo combination drive, modularization Moveable telescopic flexible cable pillar, and by the feedback fusion to multiclass sensor Information Monitoring, effectively can control variable Compliant Assembly mechanism parameter, the coordination folding and unfolding realizing four flexible cables completes heavy load running, on a large scale working space high-performance movement output, realizes the high accuracy of the controlled device end effector spatial three-dimensional translational free degree, the motion of high stationarity; Adopt the distributed AC servo system pattern that be made up of master control industrial computer, motion control board and communicator, have that system responses is quick, information processing capability by force, good reliability; Modularized design be have employed to the supervising device of system, can according to load, the quantity of the Moveable telescopic flexible cable pillar of the collaborative carrying end effector of increase and decrease, expands different sensor assemblies according to actual conditions simultaneously, is with good expansibility; Adopt force cell, gravity sensor and proximity transducer can monitor the weight of flexible rope tension, contained workpiece in system, and the keeping away barrier and prevent from impacting of weight block motion, thus substantially increase the kinematic dexterity of varistructure parameter Compliant Assembly, stability and accuracy; Simultaneously, by the collection to each sensor information on each end effector, treatment and analysis, pass through communication device, can be real-time the three dimensional environmental model image of the running status of each sensor and Monitoring Data and end effector is presented on man-machine interactive interface, can monitor in real time the state of end effector timely easily comprehensively, debug process and safety operation control; The telescopic process of telescopic flexible cable pillar and the driving of flexible cable are all adopt hydraulic system to drive in addition, compact conformation, and easy to operate, have bearing capacity strong, running precision is high, stable performance noiseless; Present invention achieves machinery, electronics, hydraulic pressure integration, automaticity is high, has the efficiency that compact conformation and the feature such as easy to operate improve heavy accurate carrying significantly.
Accompanying drawing explanation
Fig. 1 is Compliant Assembly structural representation of the present invention.
Fig. 2 is Compliant Assembly control system theory diagram of the present invention.
Fig. 3 is the liquid-way system figure of Compliant Assembly of the present invention.
Fig. 4 is control method flow chart of the present invention.
Fig. 5 is the present inventor's machine interactive interface schematic diagram.
Detailed description of the invention
Varistructure parameter Compliant Assembly system, comprises Compliant Assembly, the liquid-way system of Compliant Assembly, Compliant Assembly control circuit, Compliant Assembly control system, wherein:
As shown in Figure 1.Compliant Assembly includes horizontally disposed ring-shaped guide rail 8, guide rail 8 is slidably fitted with multiple pedestal 9, pedestal 9 is respectively arranged with servomotor 11, two-way hydraulic motor 5, wherein servomotor 11 is connected with gearbox 12, the driving wheel 13 be in transmission connection with gearbox 12 is rotatablely equipped with respectively in each pedestal 9, each pedestal 9 is slidably mounted on guide rail 8 respectively by driving wheel 13, two-way hydraulic motor 5 is connected with reductor 6, reductor 6 is connected with hoist engine 7, each pedestal 9 is also vertically provided with the two-way hydraulic cylinder 3 of liquid electricity combination drive, two-way hydraulic cylinder 3 pars contractilis top is rotatablely equipped with guiding fixed pulley 2 respectively, flexible cable 4 walked around respectively by guiding fixed pulley 2, on the hoist engine 7 of each flexible cable 4 one end difference multiple-turns wound on each self-corresponding pedestal 9, multiple flexible cable 4 other end stretches to ring-shaped guide rail 8 overcentre respectively and is jointly connected with end effector 1, the electromagnetic brake 10 be in transmission connection with driving wheel 13 is also respectively arranged with bottom each pedestal 9,
As shown in Figure 3.The liquid-way system of Compliant Assembly comprises hydraulic pump 15, the input of hydraulic pump 15 is connected with external hydraulic oil sources, hydraulic pump 15 has two-way to export, wherein a road exports by solenoid-operated proportional reversal valve 17 fuel feeding to each two-way hydraulic cylinder 3, and another road exports by another solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic motor 5;
Compliant Assembly control circuit comprises Wire driven robot mechanism control circuit, telescopic flexible cable pillar control circuit, movable base control circuit, movable base control circuit is made up of the motor servo driver that servomotor quantity is identical, Wire driven robot mechanism control circuit is made up of the proportional amplifier one identical with two-way hydraulic motor quantity, telescopic flexible cable pillar control circuit is made up of the proportional amplifier two identical with two-way hydraulic cylinder quantity, wherein the output one_to_one corresponding of motor servo driver is connected with each servomotor, the output of proportional amplifier one is connected with the solenoid-operated proportional reversal valve of fuel feeding to each two-way hydraulic motor respectively, the output of proportional amplifier two is connected with the solenoid-operated proportional reversal valve of fuel feeding to each two-way hydraulic cylinder respectively, each motor servo driver, the input of proportional amplifier accesses Compliant Assembly control system respectively,
As shown in Figure 2.Compliant Assembly control system comprises the master control industrial computer of band communication interface, with the motion control board of communication module, human-computer interaction interface, feedback module, human-computer interaction interface access master control industrial computer, master control industrial computer is interrogated with motion control board cartoon and is connected, each motor servo driver, the input of proportional amplifier is respectively by CAN access motion control board, the one_to_one corresponding of group more than feedback module comprises is arranged on the photoelectric encoder on servomotor, many groups one_to_one corresponding is arranged on the grating displacement sensor on two-way hydraulic cylinder, many groups are arranged on the laser range sensor on end effector jointly, proximity transducer, gravity sensor, and many group one_to_one corresponding are arranged on force cell in flexible cable and stay wire displacement sensor, photoelectric encoder, pattern displacement sensing, laser range sensor, proximity transducer, gravity sensor, force cell, the data output end of stay wire displacement sensor accesses motion control board feedback input end respectively.
As shown in Figure 3.In liquid-way system, hydraulic pump 15 and input have access to filter 14, and hydraulic pump 15 also has access to overflow valve 16.
Communicate in universal serial bus mode between master control industrial computer, motion control board, motor servo driver, proportional amplifier and feedback module, form a communications network system.
As shown in Figure 4.A control method for varistructure parameter Compliant Assembly system, comprises the following steps:
(1), carry out the initialization of system, whether well detect network communication state between modules, the initial position co-ordinates of artificial input end effector, the destination coordinate according to setting carries out global path planning;
(2) each sensor unit, is opened, detect the real-time status being arranged on each sensor input and feedback various types of signal on varistructure parameter Compliant Assembly, generate the on-the-spot path of energy actual motion, the track running route of end effector and ride the feedback signal of sensor all by communication device real-time update and display on man-machine interactive interface, is convenient to monitoring and debugging;
(3), during the end effector motion of varistructure parameter Compliant Assembly traction controlled device, be arranged on the individual laser range sensor on end effector, gravity sensor and proximity transducer, and the force cell be arranged on respectively in four flexible cables, the corresponding data recorded is sent to the feedback input end of motion control board, the real-time manipulate measurement data of motion control board also sends to master control industrial computer by communication module measurement data, master control industrial computer is presented at the data of various kinds of sensors signal on man-machine interactive interface timely, be convenient to monitoring and debugging,
(4), master control industrial computer carries out analyzing and processing, finishing man-machine interaction function and Compliant Assembly Mechanics Calculation to the received signal, and control system is resolved, and obtain control instruction, control instruction sends motion control board to by communication interface;
(5) all kinds of control instructions that, motion control board card docking is subject to comprehensively are analyzed, calculate control signal, respectively signal is sent to Wire driven robot mechanism control circuit in the control circuit of Compliant Assembly, telescopic flexible cable pillar control circuit and movable base control circuit, complete and control in real time Compliant Assembly and carry out flexible, the movement that pedestal is on circular guideway of two-way hydraulic cylinder and the receipts rope of four flexible cables and put rope coordination, and then realize the high-precision motion of the controlled device end effector spatial three-dimensional translational free degree, wherein:
Be arranged on stay wire displacement sensor in flexible cable for measuring displacement and the rate signal of flexible cable, motion control board carries out control treatment to this signal, the instruction sent is used for controlling corresponding solenoid-operated proportional reversal valve through proportional amplifier one amplification, external hydraulic pump extracts hydraulic oil through solenoid-operated proportional reversal valve for two-way hydraulic motor provides motive power by filter, solenoid-operated proportional reversal valve is by regulating the fluid flow flowing through two-way hydraulic motor and then the rotating speed controlling two-way hydraulic motor, from the rotating speed feeding back to adjustment two-way hydraulic motor of stay wire displacement sensor, form a velocity feedback mechanism two-way hydraulic motor invariablenes turning speed, two-way hydraulic motor drives hoist engine and then is ensured the constant of flexible cable speed,
The grating displacement sensor be arranged on two-way hydraulic cylinder records telescopic displacement and the rate signal of hydraulic cylinder, motion control board carries out control treatment to this signal, the instruction sent is used for controlling corresponding solenoid-operated proportional reversal valve through proportional amplifier two amplification, external hydraulic pump extracts hydraulic oil through solenoid-operated proportional reversal valve for two-way hydraulic cylinder provides motive power by filter, solenoid-operated proportional reversal valve is by regulating telescopic displacement and the rate signal of fluid flow and then the control two-way hydraulic cylinder flowing through two-way hydraulic cylinder, from the telescopic displacement feeding back to control two-way hydraulic cylinder and the speed of grating displacement sensor, form speed feedback control thus ensure that hydraulic cylinder speed is constant,
The photoelectric encoder be arranged on servomotor records corner and tach signal, and motion control board carries out control treatment to this signal, and forms speed feedback control to ensure servomotor invariablenes turning speed with the photoelectric encoder interface feeding back to motion control board;
(6) laser range sensor on end effector, gravity sensor and proximity transducer, is arranged on, and the force cell be arranged on respectively in four flexible cables, further will detect end effector position, gravity and proximity state and flexible cable stress state and be sent to the feedback input end of motion control board in time, the real-time manipulate measurement data of motion control board also sends to master control industrial computer by communicator measurement data; By man-machine interactive interface can real-time monitored to the pose of end effector and three-dimensional space motion image information, and corresponding operation can be carried out realize the time-out of end effector and continue to execute the task.
The present invention includes Compliant Assembly, master control industrial computer, communicator, motion control board, Compliant Assembly controller and sensor, master control industrial computer is linked by communicator and motion control board and connects, motion control board is connected with each Compliant Assembly controller, Compliant Assembly controller is connected with end effector, Compliant Assembly end effector is provided with sensor, sensor and motion control board link and connect, and motion control board cartoon is crossed communicator and is connected with master control industrial computer.
See Fig. 1,3, Moveable telescopic flexible cable pillar, end effector 1, four flexible cables 4 and guide rail 8 that Compliant Assembly comprises four groups of structures identical are formed.Moveable telescopic flexible cable pillar is by fixed pulley 2, two-way hydraulic cylinder 3, two-way hydraulic motor 5, reductor 6, hoist engine 7, pedestal 9, electromagnetic brake 10, servomotor 11, gearbox 12, driving wheel 13, filter 14, hydraulic pump 15, the formations such as overflow valve 16 and solenoid-operated proportional reversal valve 17, Moveable telescopic flexible cable pillar is distributed on circular guideway 8, flexible cable guiding fixed pulley 2 is provided with on telescopic two-way hydraulic cylinder 3, two-way hydraulic cylinder 3 is arranged on pedestal 9, pedestal 9 drives driving wheel 13 to move on circular guideway 8 by servomotor 11 by gearbox 12, driving wheel 13 is provided with the braking that electromagnetic brake 10 carries out movable base 9.The flexible up and down of two-way hydraulic cylinder 3 is completed by the combination drive of liquid electricity, external hydraulic pump 15 extracts hydraulic oil for solenoid-operated proportional reversal valve 17 by filter 14 and provides motive power (overflow valve 16 is for ensureing voltage stabilizing overflow), motion control board sends instruction and is amplified by proportional amplifier, for controlling the movement of solenoid-operated proportional reversal valve 17 spool thus accurately controlling stretching up and down of two-way hydraulic cylinder 3.Its rotating speed size of two-way hydraulic motor 5(is also provide power by hydraulic pump 15, by solenoid-operated proportional reversal valve 17 hydraulic control oil uninterrupted so control the rotating speed of two-way hydraulic motor 5) being connected with hoist engine 7 by reductor 6 forms Wire driven robot mechanism, Wire driven robot mechanism is also fixed on pedestal 9, four flexible cable 4 one ends wound are on hoist engine 7, the other end is by the guiding fixed pulley 2 on two-way hydraulic cylinder 3, and be connected with end effector 1, end effector 1 there are 4 with four flexible cable 4 tie points, are evenly distributed on end effector 1 top respectively.
Compliant Assembly controller has four groups, each group structure is identical, comprise Wire driven robot mechanism, telescopic flexible cable pillar, movable base 9, robot control circuit, stay wire displacement sensor, photoelectric encoder, grating displacement sensor, the output of motion control board is connected with robot control circuit, and stay wire displacement sensor, grating displacement sensor are connected with the feedback input end of motion control board with the output of photoelectric encoder; Described robot control circuit comprises Wire driven robot mechanism control circuit, telescopic flexible cable pillar control circuit and movable base 9 control circuit.
Sensor comprises stay wire displacement sensor, grating displacement sensor, photoelectric encoder, force cell, gravity sensor, proximity transducer and laser range sensor; Photoelectric encoder has 4, is arranged on the servomotor 11 of the movable base 9 of the Wire driven robot mechanism of each Compliant Assembly respectively; Grating displacement sensor has 4, is arranged on the two-way hydraulic cylinder 3 of telescopic flexible cable pillar of Compliant Assembly respectively; Compliant Assembly end effector 1 is installed 3 laser range sensors and gravity sensor respectively, on end effector 1, proximity transducer is installed simultaneously, the force cell that each installation one is identical in four flexible cables 4.
See Fig. 2,3,4,5, the control method of varistructure parameter Compliant Assembly control system, comprises following step:
Whether good step one: the initialization carrying out system, detect network communication state between modules, the initial position co-ordinates of artificial input end effector, and the destination coordinate according to setting carries out global path planning;
Step 2: turn on sensor unit, detect the real-time status being arranged on each sensor input and feedback various types of signal on varistructure parameter Compliant Assembly, generate the on-the-spot path of energy actual motion, the track running route of end effector and the feedback signal of its upper sensor, all by communication device real-time update and display on man-machine interactive interface, are convenient to monitoring and debugging.
 
Step 3: when varistructure parameter Compliant Assembly traction controlled device end effector 1 moves, be arranged on 3 laser range sensors on end effector 1 (for detecting the locus of end effector, displacement and rate signal), gravity sensor (for detecting gravity end effector installing object additional) and proximity transducer (for detecting the radial distance of end effector distance peripheral obstacle), and the force cell (for detecting internal tension size suffered in flexible cable) be arranged on respectively in four flexible cables, the corresponding data recorded is sent to the feedback input end of motion control board, the real-time manipulate measurement data of motion control board also sends to master control industrial computer by communicator measurement data, and timely the data of various kinds of sensors signal are presented on man-machine interactive interface, be convenient to monitoring and debugging,
Step 4: master control industrial computer carries out analyzing and processing to the received signal, finishing man-machine interaction function and Compliant Assembly Mechanics Calculation, control system is resolved, and obtain control instruction, control instruction sends motion control board to by communicator;
Step 5: all kinds of control instructions that motion control board card docking is subject to comprehensively are analyzed, calculate control signal, respectively signal is sent to Compliant Assembly Wire driven robot mechanism control circuit, telescopic flexible cable pillar control circuit and movable base 9 control circuit, complete and control in real time Compliant Assembly and carry out flexible, the movement that pedestal 9 is on circular guideway 8 of flexible cable pillar and the receipts rope of four flexible cables 4 and put rope coordination, and then realize the high-precision motion of the controlled device end effector 1 spatial three-dimensional translational free degree
1) Wire driven robot mechanism control circuit: be arranged on stay wire displacement sensor in the flexible cable 4 of Compliant Assembly Wire driven robot mechanism for measuring displacement and the rate signal of flexible cable, motion control board carries out control treatment to this signal, the instruction sent is used for controlling solenoid-operated proportional reversal valve 17 through proportional amplifier amplification, external hydraulic pump 15 extracts hydraulic oil through solenoid-operated proportional reversal valve 17 for two-way hydraulic motor provides motive power (overflow valve 16 is for ensureing voltage stabilizing overflow) by filter 14, solenoid-operated proportional reversal valve 17 is by regulating the fluid flow flowing through two-way hydraulic motor 5 and then the rotating speed controlling two-way hydraulic motor 5, from the rotating speed feeding back to adjustment two-way hydraulic motor 5 of stay wire displacement sensor, form velocity feedback mechanism two-way hydraulic motor 5 invariablenes turning speed, two-way hydraulic motor 5 drives hoist engine and then is ensured the constant of flexible cable speed,
2) telescopic flexible cable pillar control circuit: the grating displacement sensor be arranged on the two-way hydraulic cylinder 3 of the telescopic flexible cable pillar of Compliant Assembly records telescopic displacement and the rate signal of two-way hydraulic cylinder 3, motion control board carries out control treatment to this signal, the instruction sent is used for controlling solenoid-operated proportional reversal valve 17 through proportional amplifier amplification, external hydraulic pump 15 extracts hydraulic oil through solenoid-operated proportional reversal valve 17 for two-way hydraulic cylinder 3 provides motive power (overflow valve 16 is for ensureing voltage stabilizing overflow) by filter 14, solenoid-operated proportional reversal valve 17 is by regulating telescopic displacement and the rate signal of fluid flow and then the control two-way hydraulic cylinder 3 flowing through two-way hydraulic cylinder 3, from the telescopic displacement feeding back to control two-way hydraulic cylinder 3 and the speed of grating displacement sensor, form speed feedback control thus ensure two-way hydraulic cylinder 3 constant airspeed,
3) movable base control circuit: the photoelectric encoder be arranged on the servomotor 11 of Compliant Assembly movable base 9 records corner and tach signal, motion control board carries out control treatment to this signal, and forms speed feedback control to ensure servomotor 11 invariablenes turning speed with the photoelectric encoder interface feeding back to motion control board;
Above three modules are according to implementing the difference of task, and both can individually operate also can comprehensive Collaboration, root thus reach the highest efficiency;
Step 6: be arranged on the laser range sensor on end effector 1, gravity sensor and proximity transducer, and the force cell be arranged on respectively in four flexible cables, further will detect end effector position, gravity and proximity state and flexible cable stress state and be sent to the feedback input end of motion control board in time, the real-time manipulate measurement data of motion control board also sends to master control industrial computer by communicator measurement data; By man-machine interactive interface can real-time monitored to the pose of end effector and three-dimensional space motion image information, and corresponding operation can be carried out realize the time-out of end effector and continue the tasks such as execution;
Master control industrial computer, motion control board, each driver and end effector communicate in universal serial bus mode between the sensor that feeds back, form a communications network system.Above-mentioned control method comprises control system and reponse system is all set up based on this network system, and this communication network system is that whole net control constructs an indispensable platform;
See Fig. 5, in order to present the moving process of end effector actuator, set up the associative simulation of Matlab and Labview, simulation result in Matlab can dynamically be represented on Labview, thus at the optimum mobile alignment presenting end effector of complete display, planning and the generation of final track can be completed according to optimum mobile alignment; The display interface of the dynamic change of an energy real-time monitoring system and static data is write by VC++, the Spatial distributions moving process of the trajectory planning indicating end effector of visual pattern, the working condition of each sensor and signal strength signal intensity, end effector and current pose and the action button etc. of real-time control can be carried out system modules, and can to detect end effector path and motion control arithmetic carries out real-time debug and improvement, thus the real-time monitoring completed whole system and safety operation control link.

Claims (4)

1. varistructure parameter Compliant Assembly system, is characterized in that: comprise Compliant Assembly, the liquid-way system of Compliant Assembly, Compliant Assembly control circuit, Compliant Assembly control system, wherein:
Described Compliant Assembly includes horizontally disposed ring-shaped guide rail, slide on rails is provided with multiple pedestal, described pedestal is respectively arranged with servomotor, two-way hydraulic motor, wherein servo motor transmission is connected with gearbox, the driving wheel be connected with gearbox transmission is rotatablely equipped with respectively in each pedestal, each pedestal is slidably mounted on guide rail respectively by driving wheel, two-way hydraulic motor is connected with reductor, speed reducer drive is connected with hoist engine, each pedestal is also vertically provided with the two-way hydraulic cylinder of liquid electricity combination drive, two-way hydraulic cylinder pars contractilis top is rotatablely equipped with guiding fixed pulley respectively, guiding fixed pulley has walked around flexible cable respectively, on the hoist engine of each flexible cable one end difference multiple-turns wound on each self-corresponding pedestal, multiple flexible cable other end stretches to ring-shaped guide rail overcentre respectively and is jointly connected with end effector,
The liquid-way system of described Compliant Assembly comprises hydraulic pump, the input of hydraulic pump is connected with external hydraulic oil sources, hydraulic pump has two-way to export, wherein a road exports by a solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic cylinder, and another road exports by another solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic motor;
Described Compliant Assembly control circuit comprises Wire driven robot mechanism control circuit, telescopic flexible cable pillar control circuit, movable base control circuit, movable base control circuit is made up of the motor servo driver that servomotor quantity is identical, Wire driven robot mechanism control circuit is made up of the proportional amplifier one identical with two-way hydraulic motor quantity, telescopic flexible cable pillar control circuit is made up of the proportional amplifier two identical with two-way hydraulic cylinder quantity, wherein the output one_to_one corresponding of motor servo driver is connected with each servomotor, the output of proportional amplifier one is connected with the solenoid-operated proportional reversal valve of fuel feeding to each two-way hydraulic motor respectively, the output of proportional amplifier two is connected with the solenoid-operated proportional reversal valve of fuel feeding to each two-way hydraulic cylinder respectively, each motor servo driver, the input of proportional amplifier accesses Compliant Assembly control system respectively,
Described Compliant Assembly control system comprises the master control industrial computer of band communication interface, with the motion control board of communication module, human-computer interaction interface, feedback module, described human-computer interaction interface access master control industrial computer, master control industrial computer is interrogated with motion control board cartoon and is connected, each motor servo driver, the input of proportional amplifier is respectively by CAN access motion control board, and the one_to_one corresponding of group more than described feedback module comprises is arranged on the photoelectric encoder on servomotor, many groups one_to_one corresponding is arranged on the grating displacement sensor on two-way hydraulic cylinder, many groups are arranged on the laser range sensor on end effector jointly, proximity transducer, gravity sensor, and many group one_to_one corresponding are arranged on force cell in flexible cable and stay wire displacement sensor, described photoelectric encoder, pattern displacement sensing, laser range sensor, proximity transducer, gravity sensor, force cell, the data output end of stay wire displacement sensor accesses motion control board feedback input end respectively.
2. varistructure parameter Compliant Assembly system according to claim 1, it is characterized in that: in described liquid-way system, hydraulic pump and input have access to filter, and hydraulic pump also has access to overflow valve.
3. varistructure parameter Compliant Assembly system according to claim 1, it is characterized in that: communicate in universal serial bus mode between master control industrial computer, motion control board, motor servo driver, proportional amplifier and feedback module, form a communications network system.
4. a control method for varistructure parameter Compliant Assembly system, is characterized in that: comprise the following steps:
(1), carry out the initialization of system, whether well detect network communication state between modules, the initial position co-ordinates of artificial input end effector, the destination coordinate according to setting carries out global path planning;
(2) each sensor unit, is opened, detect the real-time status being arranged on each sensor input and feedback various types of signal on varistructure parameter Compliant Assembly, generate the on-the-spot path of energy actual motion, the track running route of end effector and ride the feedback signal of sensor all by communication device real-time update and display on man-machine interactive interface, is convenient to monitoring and debugging;
(3), during the end effector motion of varistructure parameter Compliant Assembly traction controlled device, be arranged on the individual laser range sensor on end effector, gravity sensor and proximity transducer, and the force cell be arranged on respectively in four flexible cables, the corresponding data recorded is sent to the feedback input end of motion control board, the real-time manipulate measurement data of motion control board also sends to master control industrial computer by communication module measurement data, master control industrial computer is presented at the data of various kinds of sensors signal on man-machine interactive interface timely, be convenient to monitoring and debugging,
(4), master control industrial computer carries out analyzing and processing, finishing man-machine interaction function and Compliant Assembly Mechanics Calculation to the received signal, and control system is resolved, and obtain control instruction, control instruction sends motion control board to by communication interface;
(5) all kinds of control instructions that, motion control board card docking is subject to comprehensively are analyzed, calculate control signal, respectively signal is sent to Wire driven robot mechanism control circuit in the control circuit of Compliant Assembly, telescopic flexible cable pillar control circuit and movable base control circuit, complete and control in real time Compliant Assembly and carry out flexible, the movement that pedestal is on circular guideway of two-way hydraulic cylinder and the receipts rope of four flexible cables and put rope coordination, and then realize the high-precision motion of the controlled device end effector spatial three-dimensional translational free degree, wherein:
Be arranged on stay wire displacement sensor in flexible cable for measuring displacement and the rate signal of flexible cable, motion control board carries out control treatment to this signal, the instruction sent is used for controlling corresponding solenoid-operated proportional reversal valve through proportional amplifier one amplification, external hydraulic pump extracts hydraulic oil through solenoid-operated proportional reversal valve for two-way hydraulic motor provides motive power by filter, solenoid-operated proportional reversal valve is by regulating the fluid flow flowing through two-way hydraulic motor and then the rotating speed controlling two-way hydraulic motor, from the rotating speed feeding back to adjustment two-way hydraulic motor of stay wire displacement sensor, form a velocity feedback mechanism two-way hydraulic motor invariablenes turning speed, two-way hydraulic motor drives hoist engine and then is ensured the constant of flexible cable speed,
The grating displacement sensor be arranged on two-way hydraulic cylinder records telescopic displacement and the rate signal of hydraulic cylinder, motion control board carries out control treatment to this signal, the instruction sent is used for controlling corresponding solenoid-operated proportional reversal valve through proportional amplifier two amplification, external hydraulic pump extracts hydraulic oil through solenoid-operated proportional reversal valve for two-way hydraulic cylinder provides motive power by filter, solenoid-operated proportional reversal valve is by regulating telescopic displacement and the rate signal of fluid flow and then the control two-way hydraulic cylinder flowing through two-way hydraulic cylinder, from the telescopic displacement feeding back to control two-way hydraulic cylinder and the speed of grating displacement sensor, form speed feedback control thus ensure that hydraulic cylinder speed is constant,
The photoelectric encoder be arranged on servomotor records corner and tach signal, and motion control board carries out control treatment to this signal, and forms speed feedback control to ensure servomotor invariablenes turning speed with the photoelectric encoder interface feeding back to motion control board;
(6) laser range sensor on end effector, gravity sensor and proximity transducer, is arranged on, and the force cell be arranged on respectively in four flexible cables, further will detect end effector position, gravity and proximity state and flexible cable stress state and be sent to the feedback input end of motion control board in time, the real-time manipulate measurement data of motion control board also sends to master control industrial computer by communicator measurement data; By man-machine interactive interface can real-time monitored to the pose of end effector and three-dimensional space motion image information, and corresponding operation can be carried out realize the time-out of end effector and continue to execute the task.
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