CN104440870B - Varistructure parameter Compliant Assembly system and control method - Google Patents

Varistructure parameter Compliant Assembly system and control method Download PDF

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CN104440870B
CN104440870B CN201410571166.9A CN201410571166A CN104440870B CN 104440870 B CN104440870 B CN 104440870B CN 201410571166 A CN201410571166 A CN 201410571166A CN 104440870 B CN104440870 B CN 104440870B
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control
motor
compliant assembly
way hydraulic
sensor
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CN104440870A (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 kind of varistructure parameter Compliant Assembly system and control method, system includes Compliant Assembly, the liquid-way system of Compliant Assembly, Compliant Assembly control circuit, Compliant Assembly control system, the parameter that method is gathered by feedback module in control system, is controlled motor control board to Compliant Assembly control circuit transmitting control commands by master control industrial computer in control system.The present invention can effectively control alterable machines robot mechanism parameter and complete heavy load operating, on a large scale work space high-performance movement output, it is achieved the high-precision motion of controlled device end effector spatial three-dimensional translational degree of freedom.

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 simple in construction, work space is big, easy to assemble, can recombinate, the degree of modularity is high, load Ability is strong, movement velocity is fast and lower-price characteristic.At present, the Compliant Assembly of various degree of freedom is the most all Have and study widely and apply.Chinese patent 01127939.7 discloses a kind of Wire driven robot 3-dof parallel robot, in State's patent 200910070056.3 discloses a kind of two degrees of freedom Compliant Assembly, and Chinese patent 200910233341.2 is public Open a kind of Three Degree Of Freedom that realizes and use the Compliant Assembly of combination drive five-bar mechanism driving.Go out more than comprehensive Existing Compliant Assembly, mainly employing fixing flexible cable parallel architecture mechanism, and it is controlled right to drive flexible cable to realize by motor As end effector desired motion, limit and realize flexible cable parallel mechanism and complete high capacity, the energy of big work space job task Power.In this case it is necessary to by both mechanically and electrically technological improvement original Compliant Assembly system, develop one knot Structure is compact, easy to operate, have high capacity, big work space job task ability, faster system response are fast, information processing capability By force, the Compliant Assembly control system of good reliability.
Summary of the invention it is an object of the invention to provide a kind of varistructure parameter Compliant Assembly system and controlling party Method, to solve the problem that prior art exists.
In order to achieve the above object, the technical solution adopted in the present invention is:
Varistructure parameter Compliant Assembly system, it is characterised in that: include that Compliant Assembly, flexible cable are in parallel The liquid-way system of robot, Compliant Assembly control circuit, Compliant Assembly control system, wherein:
Described Compliant Assembly includes horizontally disposed ring-shaped guide rail, and slide on rails is provided with multiple pedestal, Being respectively arranged with servomotor, two-way hydraulic motor on described pedestal, wherein servo motor transmission connects change speed gear box, Mei Geji Being rotatablely equipped with the driving wheel being connected with gearbox transmission in Zuo respectively, each pedestal is slidably mounted on by driving wheel respectively and leads On rail, two-way hydraulic motor is connected with reductor, and speed reducer drive connects hoist engine, the most vertical installation on each pedestal There are the two-way hydraulic cylinder of liquid electricity combination drive, two-way hydraulic cylinder pars contractilis top to be rotatablely equipped with guiding fixed pulley respectively, guide Flexible cable has been walked around respectively on fixed pulley, on the multiple-turns wound hoist engine on each self-corresponding pedestal respectively of each flexible cable one end, Multiple flexible cable other ends stretch to respectively ring-shaped guide rail overcentre and jointly connect have end effector;
The liquid-way system of described Compliant Assembly includes hydraulic pump, and the input of hydraulic pump is with external hydraulic oil sources even Connecing, hydraulic pump has two-way to export, and wherein a road exports by a solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic cylinder, separately One tunnel exports by another solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic motor;
Described Compliant Assembly control circuit includes that Wire driven robot mechanism control circuit, telescopic flexible cable pillar control Circuit, movable base control circuit, movable base control circuit is by the identical motor servo driver of servomotor quantity Constituting, Wire driven robot mechanism control circuit is made up of the proportional amplifier one identical with two-way hydraulic motor quantity, telescopic soft Suo Zhizhu control circuit is made up of the proportional amplifier two identical with two-way hydraulic cylinder quantity, and wherein motor servo driver is defeated Go out to hold one_to_one corresponding to be connected with each servomotor, the outfan of proportional amplifier one respectively with fuel feeding to each bidirectional hydraulic horse The solenoid-operated proportional reversal valve that reaches connects, the outfan of proportional amplifier two respectively with the electromagnetism ratio of fuel feeding to each two-way hydraulic cylinder Example reversal valve connects, and each motor servo driver, the input of proportional amplifier are respectively connected to Compliant Assembly control System;
Described Compliant Assembly control system includes the master control industrial computer of band communication interface, the motion of band communication module Control card, human-computer interaction interface, feedback module, described human-computer interaction interface accesses master control industrial computer, master control industrial computer and fortune Dynamic Control card communication connects, and each motor servo driver, the input of proportional amplifier access fortune by CAN respectively Dynamic Control card, described feedback module includes organizing photoelectric encoder that one_to_one corresponding is arranged on servomotor more, organizes one by one more Grating displacement sensor, the many groups of laser rangings being commonly mounted on end effector that correspondence is arranged on two-way hydraulic cylinder pass Sensor, proximity transducer, gravity sensor, and organize force cell and the bracing wire displacement that one_to_one corresponding is arranged in flexible cable more Sensor, described photoelectric encoder, pattern displacement sensing, laser range sensor, proximity transducer, gravity sensor, dynamometry Sensor, the data output end of stay wire displacement sensor are respectively connected to motor control board feedback input end.
Described varistructure parameter Compliant Assembly system, it is characterised in that: in described liquid-way system, hydraulic pump Having filter with input access, hydraulic pump also accesses overflow valve.
Described varistructure parameter Compliant Assembly system, it is characterised in that: master control industrial computer, motion control board Communicate in universal serial bus mode between card, motor servo driver, proportional amplifier and feedback module, constitute one and lead to Communication network system.
A kind of control method of varistructure parameter Compliant Assembly system, it is characterised in that: comprise the following steps:
(1), carrying out the initialization of system, between detection modules, network communication state is the best, is manually entered end The initial position co-ordinates of end executor, the destination's coordinate according to setting carries out global path planning;
(2), opening each sensor unit, detection is arranged on each sensor on varistructure parameter Compliant Assembly Input and the real-time status of feedback various types of signal, generate the on-the-spot path of energy actual motion, the track fortune of end effector Walking along the street line and ride the feedback signal of sensor all by communication device real-time update and display on man-machine interactive interface, just In monitoring and debugging;
(3), varistructure parameter Compliant Assembly traction controlled device end effector motion time, be arranged on end Individual laser range sensor, gravity sensor and proximity transducer on executor, and be separately mounted in four flexible cables Force cell, is sent to the feedback input end of motor control board by the corresponding data recorded, and motor control board is located in real time Reason measurement data is also sent to master control industrial computer by communication module measurement data, and master control industrial computer is timely all kinds of sensings The data of device signal show on man-machine interactive interface, it is simple to monitor and debug;
(4), master control industrial computer is analyzed process, finishing man-machine interaction function and flexible cable parallel machine to the signal received Device people's Mechanics Calculation, control system resolves, it is thus achieved that control instruction, control instruction sends motion control board to by communication interface Card;
(5), all kinds of control instructions that are subject to of motion control board card docking comprehensively analyze, calculate control signal, respectively Send a signal to Wire driven robot mechanism control circuit in the control circuit of Compliant Assembly, telescopic flexible cable pillar controls Circuit and movable base control circuit, complete to control Compliant Assembly in real time and carry out flexible, the pedestal of two-way hydraulic cylinder Movement on circular guideway and the receipts rope of four flexible cables with put rope coordination, and then it is empty to realize controlled device end effector Between the high-precision motion of three-dimensional translating degree of freedom, wherein:
The stay wire displacement sensor being arranged in flexible cable is for measuring displacement and the rate signal of flexible cable, motor control board Being controlled this signal processing, the instruction sent amplifies the solenoid-operated proportional commutation for controlling correspondence through proportional amplifier one Valve, external hydraulic pump provides motive power through solenoid-operated proportional reversal valve for two-way hydraulic motor by filter extract force feed, Solenoid-operated proportional reversal valve flows through the fluid flow of two-way hydraulic motor by regulation and then controls the rotating speed of two-way hydraulic motor, from The rotating speed feeding back to regulation two-way hydraulic motor of stay wire displacement sensor, constitutes a velocity feedback mechanism and ensures bidirectional hydraulic Motor rotary speed is constant, and two-way hydraulic motor drives hoist engine and then ensured the constant of flexible cable speed;
The grating displacement sensor being arranged on two-way hydraulic cylinder records telescopic displacement and the rate signal of hydraulic cylinder, motion This signal is controlled processing by Control card, and the instruction sent amplifies the electromagnetism for controlling correspondence through proportional amplifier two Proportional reversing valve, external hydraulic pump provides former through solenoid-operated proportional reversal valve for two-way hydraulic cylinder by filter extract force feed Power, solenoid-operated proportional reversal valve flows through the fluid flow of two-way hydraulic cylinder by regulation and then controls the flexible position of two-way hydraulic cylinder Move and rate signal, from the telescopic displacement feeding back to control two-way hydraulic cylinder and the speed of grating displacement sensor, constitute speed Feedback control thus ensure that hydraulic cylinder speed is constant;
The photoelectric encoder being arranged on servomotor records corner and tach signal, and this signal is entered by motor control board Row control processes, and constitutes speed feedback control to ensure servo electricity with the photoelectric encoder interface feeding back to motor control board Machine invariablenes turning speed;
(6), the laser range sensor, gravity sensor and the proximity transducer that are arranged on end effector, Yi Jifen It is not arranged on the force cell in four flexible cables, will further detect end effector position, gravity and proximity state With flexible cable stress state the feedback input end that is sent to motor control board in time, motor control board processes measurement number in real time According to and by communicator, measurement data is sent to master control industrial computer;By man-machine interactive interface can real-time monitored to end The pose of end executor and three-dimensional space motion image information, it is possible to operate the time-out realizing end effector accordingly With continue executing with task.
The present invention proposes a kind of varistructure parameter Compliant Assembly control system and method, and this system can have Effect controls alterable machines robot mechanism parameter and completes heavy load operating, on a large scale work space high-performance movement output, it is achieved controlled The high-precision motion of object end effector spatial three-dimensional translational degree of freedom.
The invention have the benefit that varistructure parameter Compliant Assembly control system of the present invention and method, adopt With electro-hydraulic servo combination drive, modularity Moveable telescopic flexible cable pillar, and by multiclass sensor is gathered the anti-of information Feedback is merged, it is possible to effectively control variable Compliant Assembly mechanism parameter, it is achieved the coordination folding and unfolding of four flexible cables completes big negative Carrying turns, work space high-performance movement output on a large scale, it is achieved controlled device end effector spatial three-dimensional translational degree of freedom High accuracy, high stationarity motion;Use the distributed AC servo system being made up of master control industrial computer, motor control board and communicator Pattern, has that faster system response speed, information processing capability be strong, good reliability;The supervising device of system be have employed modularity set Meter, according to load, can increase and decrease the quantity of the Moveable telescopic flexible cable pillar of collaborative carrying end effector, root simultaneously According to the sensor assembly that practical situation extension is different, it is with good expansibility;System use force cell, gravity pass Sensor and proximity transducer can monitor flexible rope tension, the weight of contained workpiece, and the avoidance of weight block motion and prevent punching Hit, thus substantially increase the kinematic dexterity of varistructure parameter Compliant Assembly, stability and accuracy;Meanwhile, By to the collection of each sensor information on each end effector, analyze and process, pass through communication device, it is possible to real-time general The three dimensional environmental model image of the running status of each sensor and Monitoring Data and end effector shows at man-machine interactive On interface, it is possible to comprehensively the most timely state to end effector monitor in real time, debugging process and safety operation control;Separately The telescopic process of external extension formula flexible cable pillar and the driving of flexible cable are all to use hydraulic system to drive, compact conformation, operation Convenient, there is bearing capacity strong, running precision is high, stable performance noiseless;Present invention achieves machinery, electronics, hydraulic pressure one Changing, automaticity is high, has a compact conformation and the feature such as easy to operate significantly improves the efficiency of heavy accurate carrying.
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, including Compliant Assembly, the liquid of Compliant Assembly Road system, 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 many Individual pedestal 9, pedestal 9 is respectively arranged with servomotor 11, two-way hydraulic motor 5, and wherein servomotor 11 is connected with change Speed case 12, is rotatablely equipped with the driving wheel 13 being in transmission connection with change speed gear box 12 respectively in each pedestal 9, each pedestal 9 leads to respectively Wheel 13 of overdriving is slidably mounted on guide rail 8, and two-way hydraulic motor 5 is connected with reductor 6, and reductor 6 is connected with Hoist engine 7, each pedestal 9 is the most vertically provided with the two-way hydraulic cylinder 3 of liquid electricity combination drive, two-way hydraulic cylinder 3 pars contractilis top End is rotatablely equipped with guiding fixed pulley 2 respectively, guides and has walked around flexible cable 4 on fixed pulley 2 respectively, and each flexible cable 4 one end is the most Circle is wrapped on the hoist engine 7 on each self-corresponding pedestal 9, and multiple flexible cable 4 other ends stretch to ring-shaped guide rail 8 overcentre respectively And connection has end effector 1 jointly, is also respectively provided with, bottom each pedestal 9, the electromagnetic braking being in transmission connection with driving wheel 13 Device 10;
As shown in Figure 3.The liquid-way system of Compliant Assembly includes hydraulic pump 15, the input of hydraulic pump 15 and outer liquid Force feed source connects, and hydraulic pump 15 has two-way to export, and wherein a road exports by solenoid-operated proportional reversal valve 17 fuel feeding to each Two-way hydraulic cylinder 3, another road exports by another solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic motor 5;
Compliant Assembly control circuit includes that Wire driven robot mechanism control circuit, telescopic flexible cable pillar control electricity Road, movable base control circuit, movable base control circuit is by the identical motor servo driver structure of servomotor quantity Becoming, 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 of motor servo driver End one_to_one corresponding be connected with each servomotor, the outfan of proportional amplifier one respectively with fuel feeding to each two-way hydraulic motor Solenoid-operated proportional reversal valve connect, the outfan of proportional amplifier two respectively with the solenoid-operated proportional of fuel feeding to each two-way hydraulic cylinder Reversal valve connects, and each motor servo driver, the input of proportional amplifier are respectively connected to Compliant Assembly and control system System;
As shown in Figure 2.Compliant Assembly control system includes the master control industrial computer of band communication interface, band communication module Motor control board, human-computer interaction interface, feedback module, human-computer interaction interface access master control industrial computer, master control industrial computer with Motion control board card communication connects, and each motor servo driver, the input of proportional amplifier are accessed by CAN respectively Motor control board, feedback module includes organizing the photoelectric encoder that one_to_one corresponding is arranged on servomotor, many groups more one a pair The grating displacement sensor on two-way hydraulic cylinder, the many groups of laser ranging sensings being commonly mounted on end effector should be arranged on Device, proximity transducer, gravity sensor, and organize force cell and the bracing wire displacement biography that one_to_one corresponding is arranged in flexible cable more Sensor, photoelectric encoder, pattern displacement sensing, laser range sensor, proximity transducer, gravity sensor, force cell, The data output end of stay wire displacement sensor is respectively connected to motor control board feedback input end.
As shown in Figure 3.In liquid-way system, hydraulic pump 15 has filter 14 with input access, and hydraulic pump 15 also accesses to be had Overflow valve 16.
Master control industrial computer, motor control board, motor servo driver, between proportional amplifier and feedback module with string Row bus mode communicates, and constitutes a communications network system.
As shown in Figure 4.The control method of a kind of varistructure parameter Compliant Assembly system, comprises the following steps:
(1), carrying out the initialization of system, between detection modules, network communication state is the best, is manually entered end The initial position co-ordinates of end executor, the destination's coordinate according to setting carries out global path planning;
(2), opening each sensor unit, detection is arranged on each sensor on varistructure parameter Compliant Assembly Input and the real-time status of feedback various types of signal, generate the on-the-spot path of energy actual motion, the track fortune of end effector Walking along the street line and ride the feedback signal of sensor all by communication device real-time update and display on man-machine interactive interface, just In monitoring and debugging;
(3), varistructure parameter Compliant Assembly traction controlled device end effector motion time, be arranged on end Individual laser range sensor, gravity sensor and proximity transducer on executor, and be separately mounted in four flexible cables Force cell, is sent to the feedback input end of motor control board by the corresponding data recorded, and motor control board is located in real time Reason measurement data is also sent to master control industrial computer by communication module measurement data, and master control industrial computer is timely all kinds of sensings The data of device signal show on man-machine interactive interface, it is simple to monitor and debug;
(4), master control industrial computer is analyzed process, finishing man-machine interaction function and flexible cable parallel machine to the signal received Device people's Mechanics Calculation, control system resolves, it is thus achieved that control instruction, control instruction sends motion control board to by communication interface Card;
(5), all kinds of control instructions that are subject to of motion control board card docking comprehensively analyze, calculate control signal, respectively Send a signal to Wire driven robot mechanism control circuit in the control circuit of Compliant Assembly, telescopic flexible cable pillar controls Circuit and movable base control circuit, complete to control Compliant Assembly in real time and carry out flexible, the pedestal of two-way hydraulic cylinder Movement on circular guideway and the receipts rope of four flexible cables with put rope coordination, and then it is empty to realize controlled device end effector Between the high-precision motion of three-dimensional translating degree of freedom, wherein:
The stay wire displacement sensor being arranged in flexible cable is for measuring displacement and the rate signal of flexible cable, motor control board Being controlled this signal processing, the instruction sent amplifies the solenoid-operated proportional commutation for controlling correspondence through proportional amplifier one Valve, external hydraulic pump provides motive power through solenoid-operated proportional reversal valve for two-way hydraulic motor by filter extract force feed, Solenoid-operated proportional reversal valve flows through the fluid flow of two-way hydraulic motor by regulation and then controls the rotating speed of two-way hydraulic motor, from The rotating speed feeding back to regulation two-way hydraulic motor of stay wire displacement sensor, constitutes a velocity feedback mechanism and ensures bidirectional hydraulic Motor rotary speed is constant, and two-way hydraulic motor drives hoist engine and then ensured the constant of flexible cable speed;
The grating displacement sensor being arranged on two-way hydraulic cylinder records telescopic displacement and the rate signal of hydraulic cylinder, motion This signal is controlled processing by Control card, and the instruction sent amplifies the electromagnetism for controlling correspondence through proportional amplifier two Proportional reversing valve, external hydraulic pump provides former through solenoid-operated proportional reversal valve for two-way hydraulic cylinder by filter extract force feed Power, solenoid-operated proportional reversal valve flows through the fluid flow of two-way hydraulic cylinder by regulation and then controls the flexible position of two-way hydraulic cylinder Move and rate signal, from the telescopic displacement feeding back to control two-way hydraulic cylinder and the speed of grating displacement sensor, constitute speed Feedback control thus ensure that hydraulic cylinder speed is constant;
The photoelectric encoder being arranged on servomotor records corner and tach signal, and this signal is entered by motor control board Row control processes, and constitutes speed feedback control to ensure servo electricity with the photoelectric encoder interface feeding back to motor control board Machine invariablenes turning speed;
(6), the laser range sensor, gravity sensor and the proximity transducer that are arranged on end effector, Yi Jifen It is not arranged on the force cell in four flexible cables, will further detect end effector position, gravity and proximity state With flexible cable stress state the feedback input end that is sent to motor control board in time, motor control board processes measurement number in real time According to and by communicator, measurement data is sent to master control industrial computer;By man-machine interactive interface can real-time monitored to end The pose of end executor and three-dimensional space motion image information, it is possible to operate the time-out realizing end effector accordingly With continue executing with task.
The present invention includes Compliant Assembly, master control industrial computer, communicator, motor control board, flexible cable parallel machine Device people's controller and sensor, master control industrial computer is connected with motion control board card by communicator, and motor control board is with each Compliant Assembly controller connects, and Compliant Assembly controller is connected with end effector, Compliant Assembly End effector is provided with sensor, and sensor is connected with motion control board card, and motion control board card passes through communicator and master Control industrial computer connects.
See Fig. 1,3, Compliant Assembly includes that Moveable telescopic flexible cable pillar that four groups of structures are identical, end are held 1, four flexible cables 4 of row device and guide rail 8 are constituted.Moveable telescopic flexible cable pillar is by fixed pulley 2, two-way hydraulic cylinder 3, two-way liquid Pressure motor 5, reductor 6, hoist engine 7, pedestal 9, electromagnetic brake 10, servomotor 11, change speed gear box 12, driving wheel 13, filtration Device 14, hydraulic pump 15, overflow valve 16 and solenoid-operated proportional reversal valve 17 etc. are constituted, and Moveable telescopic flexible cable pillar is distributed in circle On guide rail 8, being provided with flexible cable and guide fixed pulley 2 on telescopic two-way hydraulic cylinder 3, two-way hydraulic cylinder 3 is arranged on pedestal 9, base Seat 9 is to be driven driving wheel 13 to move on circular guideway 8 by servomotor 11 by change speed gear box 12, and driving wheel 13 is provided with electricity Magnetic brake 10 carries out the braking of movable base 9.The flexible up and down of two-way hydraulic cylinder 3 is to be completed, outward by liquid electricity combination drive Portion's hydraulic pump 15 provides motive power by filter 14 extract force feed for solenoid-operated proportional reversal valve 17, and (overflow valve 16 is used for ensureing Voltage stabilizing overflow), motor control board sends instruction and is amplified by proportional amplifier, is used for controlling solenoid-operated proportional reversal valve 17 The movement of spool thus accurately control stretching up and down of two-way hydraulic cylinder 3.Its rotating speed size of two-way hydraulic motor 5(is also by liquid Press pump 15 provides power, controls hydraulic fluid flow rate size by solenoid-operated proportional reversal valve 17 and then controls two-way hydraulic motor 5 Rotating speed) by reductor 6 be connected with hoist engine 7 constitute Wire driven robot mechanism, Wire driven robot mechanism is also fixed on pedestal 9, four Root flexible cable 4 one ends wound is on hoist engine 7, and the other end is by the guiding fixed pulley 2 on two-way hydraulic cylinder 3, and holds with end Row device 1 is connected, and end effector 1 has 4 with four flexible cable 4 junction points, is respectively uniformly distributed on end effector 1 top.
Compliant Assembly controller has four groups, and each group of structure is identical, including Wire driven robot mechanism, telescopic soft Suo Zhizhu, movable base 9, robot control circuit, stay wire displacement sensor, photoelectric encoder, grating displacement sensor, fortune The outfan of dynamic Control card is connected with robot control circuit, and stay wire displacement sensor, grating displacement sensor and photoelectricity are compiled The code outfan of device is connected with the feedback input end of motor control board;Described robot control circuit includes Wire driven robot machine Structure control circuit, telescopic flexible cable pillar control circuit and movable base 9 control circuit.
Sensor includes that stay wire displacement sensor, grating displacement sensor, photoelectric encoder, force cell, gravity pass Sensor, proximity transducer and laser range sensor;Photoelectric encoder has 4, is separately mounted to each Compliant Assembly On the servomotor 11 of the movable base 9 of Wire driven robot mechanism;Grating displacement sensor has 4, is separately mounted to flexible cable also On the two-way hydraulic cylinder 3 of the telescopic flexible cable pillar of connection robot;Compliant Assembly end effector 1 is respectively mounted 3 laser range sensors and gravity sensor, be provided with proximity transducer, four flexible cables 4 on end effector 1 simultaneously Upper one identical force cell of each installation.
Seeing Fig. 2,3,4,5, the control method of varistructure parameter Compliant Assembly control system, including following several Individual step:
Step one: carrying out the initialization of system, between detection modules, network communication state is the best, is manually entered The initial position co-ordinates of end effector, the destination's coordinate according to setting carries out global path planning;
Step 2: turn on sensor unit, detection is arranged on each sensor on varistructure parameter Compliant Assembly Input and the real-time status of feedback various types of signal, generate the on-the-spot path of energy actual motion, the track fortune of end effector Walking along the street line and on it, feedback signal of sensor is all by communication device real-time update and display on man-machine interactive interface, just In 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 are (for detecting the locus of end effector, displacement and speed letter Number), gravity sensor (for detect the gravity installing object on end effector additional) and proximity transducer (be used for detecting end to hold The radial distance of row device distance peripheral obstacle), and the force cell being separately mounted in four flexible cables (is used for detecting soft Internal tension size suffered on rope), the corresponding data recorded is sent to the feedback input end of motor control board, motion Control card processes measurement data in real time and by communicator, measurement data is sent to master control industrial computer;And timely respectively The data of class sensor signal show on man-machine interactive interface, it is simple to monitor and debug;
Step 4: the signal received is analyzed processing by master control industrial computer, and finishing man-machine interaction function and flexible cable are also Connection Robot Force calculates, and control system resolves, it is thus achieved that control instruction, control instruction sends motor control to by communicator Board;
Step 5: all kinds of control instructions that motion control board card docking is subject to comprehensively are analyzed, and calculate control signal, point Do not send a signal to Compliant Assembly Wire driven robot mechanism control circuit, telescopic flexible cable pillar control circuit and can move Moving base 9 control circuit, completes to control in real time Compliant Assembly and carries out flexible, the pedestal 9 of flexible cable pillar at circular guideway 8 On movement and four flexible cables 4 receipts rope with put rope coordination, and then realize controlled device end effector 1 space three-dimensional put down The high-precision motion of dynamic degree of freedom,
1) Wire driven robot mechanism control circuit: be arranged on drawing in the flexible cable 4 of Compliant Assembly Wire driven robot mechanism Linear movement pick-up is for measuring displacement and the rate signal of flexible cable, and this signal is controlled processing by motor control board, sends out The instruction gone out is amplified for controlling solenoid-operated proportional reversal valve 17 through proportional amplifier, and external hydraulic pump 15 is taken out by filter 14 For two-way hydraulic motor offer motive power, (overflow valve 16 is used for ensureing that voltage stabilizing is overflow through solenoid-operated proportional reversal valve 17 to take hydraulic oil Stream), solenoid-operated proportional reversal valve 17 flows through the fluid flow of two-way hydraulic motor 5 by regulation and then controls two-way hydraulic motor 5 Rotating speed, feed back to regulate the rotating speed of two-way hydraulic motor 5 from stay wire displacement sensor, constitute one velocity feedback mechanism guarantor Card 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: be arranged on the bidirectional hydraulic of Compliant Assembly telescopic flexible cable pillar Grating displacement sensor on cylinder 3 records telescopic displacement and the rate signal of two-way hydraulic cylinder 3, and motor control board is to this signal Being controlled processing, the instruction sent is amplified for controlling solenoid-operated proportional reversal valve 17, external hydraulic pump through proportional amplifier 15 provide motive power (overflow valve 16 through solenoid-operated proportional reversal valve 17 for two-way hydraulic cylinder 3 by filter 14 extract force feed For ensureing voltage stabilizing overflow), solenoid-operated proportional reversal valve 17 flows through the fluid flow of two-way hydraulic cylinder 3 by regulation and then controls double To telescopic displacement and the rate signal of hydraulic cylinder 3, from the flexible position feeding back to control two-way hydraulic cylinder 3 of grating displacement sensor Move and speed, constitute speed feedback control thus ensure two-way hydraulic cylinder 3 constant airspeed;
3) movable base control circuit: be arranged on the servomotor 11 of Compliant Assembly movable base 9 Photoelectric encoder records corner and tach signal, motor control board this signal is controlled process, and with feed back to motion The photoelectric encoder interface of Control card constitutes speed feedback control to ensure servomotor 11 invariablenes turning speed;
Three above module according to implementing the difference of task, both can individually operate can also 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, with And it is separately mounted to the force cell in four flexible cables, will further detect end effector position, gravity and close State and flexible cable stress state are also sent to the feedback input end of motor control board in time, and motor control board processes survey in real time Amount data are also sent to master control industrial computer by communicator measurement data;Can real-time monitored by man-machine interactive interface Pose and three-dimensional space motion image information to end effector, it is possible to operate accordingly and realize end effector Suspend and continue executing with etc. task;
Master control industrial computer, motor control board, each driver and end effector for feedback sensor between with Universal serial bus mode communicates, and constitutes a communications network system.Above-mentioned control method includes control system and feedback system System is based on this network system and sets up, and this communication network system is that whole control network constructs indispensable putting down Platform;
See Fig. 5, in order to present the moving process of end effector executor, set up the connection of Matlab and Labview Close emulation, the simulation result in Matlab can dynamically be represented on Labview, such that it is able to presenting at complete display Go out the optimum mobile route of end effector, move route according to optimum and complete planning and the generation of final track;Compiled by VC++ Write one and can dynamically change the display interface with static data by real-time monitoring system, visual pattern represent end effector Trajectory planning, the working condition of each sensor and signal intensity, the Spatial distributions moving process of end effector and current pose And system modules can be carried out the operation button etc. of real-time control, it is possible to end effector path is detected Debug in real time with motion control arithmetic and improve, thus completing monitoring and safety operation control link in real time to whole system.

Claims (4)

1. varistructure parameter Compliant Assembly system, it is characterised in that: include Compliant Assembly, flexible cable parallel machine The liquid-way system of device people, Compliant Assembly control circuit, Compliant Assembly control system, wherein:
Described Compliant Assembly includes horizontally disposed ring-shaped guide rail, and slide on rails is provided with multiple pedestal, described Being respectively arranged with servomotor, two-way hydraulic motor on pedestal, wherein servo motor transmission connects has change speed gear box, in each pedestal Being rotatablely equipped with the driving wheel being connected with gearbox transmission respectively, each pedestal is slidably mounted on guide rail by driving wheel respectively On, two-way hydraulic motor is connected with reductor, and speed reducer drive connects hoist engine, and each pedestal is the most 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, and it is fixed to guide Flexible cable has been walked around respectively on pulley, on the multiple-turns wound hoist engine on each self-corresponding pedestal respectively of each flexible cable one end, many The individual flexible cable other end stretch to respectively ring-shaped guide rail overcentre and jointly connect have end effector;
The liquid-way system of described Compliant Assembly includes hydraulic pump, and the input of hydraulic pump is connected with external hydraulic oil sources, liquid Press pump has two-way to export, and wherein a road exports by a solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic cylinder, another road Export by another solenoid-operated proportional reversal valve fuel feeding to each two-way hydraulic motor;
Described Compliant Assembly control circuit includes that Wire driven robot mechanism control circuit, telescopic flexible cable pillar control electricity Road, movable base control circuit, movable base control circuit is by the identical motor servo driver structure of servomotor quantity Becoming, 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 of motor servo driver End one_to_one corresponding be connected with each servomotor, the outfan of proportional amplifier one respectively with fuel feeding to each two-way hydraulic motor Solenoid-operated proportional reversal valve connect, the outfan of proportional amplifier two respectively with the solenoid-operated proportional of fuel feeding to each two-way hydraulic cylinder Reversal valve connects, and each motor servo driver, the input of proportional amplifier are respectively connected to Compliant Assembly and control system System;
Described Compliant Assembly control system includes the master control industrial computer of band communication interface, the motor control of band communication module Board, human-computer interaction interface, feedback module, described human-computer interaction interface accesses master control industrial computer, master control industrial computer and motion control Making sheet card communication connects, and each motor servo driver, the input of proportional amplifier access motion control by CAN respectively Making sheet card, described feedback module includes organizing photoelectric encoder that one_to_one corresponding is arranged on servomotor more, organizes one_to_one corresponding more The grating displacement sensor being arranged on two-way hydraulic cylinder, the many groups of laser ranging sensings being commonly mounted on end effector Device, proximity transducer, gravity sensor, and organize force cell and the bracing wire displacement biography that one_to_one corresponding is arranged in flexible cable more Sensor, described photoelectric encoder, pattern displacement sensing, laser range sensor, proximity transducer, gravity sensor, dynamometry pass Sensor, the data output end of stay wire displacement sensor are respectively connected to motor control board feedback input end.
Varistructure parameter Compliant Assembly system the most according to claim 1, it is characterised in that: described fluid path system In system, the input of hydraulic pump accesses filter, and hydraulic pump also accesses overflow valve.
Varistructure parameter Compliant Assembly system the most according to claim 1, it is characterised in that: master control industry control Machine, motor control board, motor servo driver, lead in universal serial bus mode between proportional amplifier and feedback module Letter, constitutes a communications network system.
4. the control method of a varistructure parameter Compliant Assembly system, it is characterised in that: comprise the following steps:
(1), carrying out the initialization of system, between detection modules, network communication state is the best, is manually entered end and holds The initial position co-ordinates of row device, the destination's coordinate according to setting carries out global path planning;
(2), opening each sensor unit, detection is arranged on each sensor input on varistructure parameter Compliant Assembly With the real-time status of feedback various types of signal, generating the on-the-spot path of energy actual motion, the track of end effector runs road The feedback signal of line and sensor is all by communication device real-time update and display on man-machine interactive interface, it is simple to monitoring and Debugging;
(3), varistructure parameter Compliant Assembly traction controlled device end effector motion time, be arranged on end perform Laser range sensor, gravity sensor and proximity transducer on device, and the dynamometry biography being separately mounted in four flexible cables Sensor, is sent to the feedback input end of motor control board by the corresponding data recorded, and motor control board processes measurement in real time Data are also sent to master control industrial computer by communication module measurement data, and master control industrial computer is timely various kinds of sensors signal Data show on man-machine interactive interface, it is simple to monitor and debug;
(4), master control industrial computer is analyzed process, finishing man-machine interaction function and Compliant Assembly to the signal received Mechanics Calculation, control system resolves, it is thus achieved that control instruction, control instruction sends motor control board to by communication interface;
(5), all kinds of control instructions that are subject to of motion control board card docking comprehensively analyze, calculate control signal, respectively will letter Number be sent to the Wire driven robot mechanism control circuit in the control circuit of Compliant Assembly, telescopic flexible cable pillar controls electricity Road and movable base control circuit, complete to control in real time Compliant Assembly and carry out flexible, the pedestal of two-way hydraulic cylinder and exist Movement on circular guideway and the receipts rope of four flexible cables with put rope coordination, and then realize controlled device end effector space The high-precision motion of three-dimensional translating degree of freedom, wherein:
The stay wire displacement sensor being arranged in flexible cable is for measuring displacement and the rate signal of flexible cable, and motor control board is to this Signal is controlled processing, and the instruction sent amplifies the solenoid-operated proportional reversal valve for controlling correspondence through proportional amplifier one, External hydraulic pump provides motive power, electromagnetism through solenoid-operated proportional reversal valve for two-way hydraulic motor by filter extract force feed Proportional reversing valve flows through the fluid flow of two-way hydraulic motor by regulation and then controls the rotating speed of two-way hydraulic motor, from bracing wire The rotating speed feeding back to regulation two-way hydraulic motor of displacement transducer, constitutes a velocity feedback mechanism and ensures 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 being arranged on two-way hydraulic cylinder records telescopic displacement and the rate signal of hydraulic cylinder, motor control This signal is controlled processing by board, and the instruction sent amplifies the solenoid-operated proportional for controlling correspondence through proportional amplifier two Reversal valve, external hydraulic pump provides former dynamic through solenoid-operated proportional reversal valve for two-way hydraulic cylinder by filter extract force feed Power, solenoid-operated proportional reversal valve flows through the fluid flow of two-way hydraulic cylinder by regulation and then controls the telescopic displacement of two-way hydraulic cylinder And rate signal, from the telescopic displacement feeding back to control two-way hydraulic cylinder and the speed of grating displacement sensor, constitute speed anti- Feedback controls thus ensures that hydraulic cylinder speed is constant;
The photoelectric encoder being arranged on servomotor records corner and tach signal, and this signal is controlled by motor control board System processes, and constitutes speed feedback control to ensure that servomotor turns with the photoelectric encoder interface feeding back to motor control board Speed is constant;
(6), the laser range sensor, gravity sensor and the proximity transducer that are arranged on end effector, and pacify respectively It is contained in the force cell in four flexible cables, will further detect end effector position, gravity and proximity state and soft Rope stress state is also sent to the feedback input end of motor control board in time, and motor control board processes measurement data also in real time By communicator, measurement data is sent to master control industrial computer;Can real-time monitored be held to end by man-machine interactive interface The pose of row device and three-dimensional space motion image information, it is possible to operate accordingly and realize the time-out of end effector and continue Continuous execution task.
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