CN117484479B - Rope traction parallel robot with flexible working space and control method - Google Patents

Rope traction parallel robot with flexible working space and control method Download PDF

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Publication number
CN117484479B
CN117484479B CN202311819112.5A CN202311819112A CN117484479B CN 117484479 B CN117484479 B CN 117484479B CN 202311819112 A CN202311819112 A CN 202311819112A CN 117484479 B CN117484479 B CN 117484479B
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rope
end effector
base
cylinder
cylinders
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CN117484479A (en
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熊昊
徐宇辰
余远杰
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Shenzhen Graduate School Harbin Institute of Technology
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Shenzhen Graduate School Harbin Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of rope traction parallel robots, in particular to a rope traction parallel robot with flexible working space and a control method, comprising a bottom plate, a rope and cylinders for winding the rope, wherein a plurality of bases are arranged on the bottom plate, the bases surround the upper side of the bottom plate to form the working space, guide wheels are arranged at the tops of the bases, a driving device is arranged at one side of the bottoms of the bases, a control device is also arranged on the bottom plate, a single cylinder or a grid curved surface formed by a plurality of cylinders is arranged in the working space, the grid curved surface isolates the obstacle from the working space, one end of the rope is connected with the driving device, and the other end of the rope bypasses the guide wheels to directly or bypass the cylinders or the grid curved surface to extend and be connected with an end effector. The invention solves the problem that the application of the existing rope traction parallel robot is limited in a complex environment containing a plurality of obstacles, so that the rope traction parallel robot can be suitable for more complex environments containing a plurality of obstacles.

Description

Rope traction parallel robot with flexible working space and control method
Technical Field
The invention relates to the technical field of rope traction parallel robots, in particular to a rope traction parallel robot with flexible working space and a control method.
Background
A rope-drawn parallel robot is a robot in which a plurality of ropes drive an end effector. The rope traction parallel robot has the advantages of large working space, small inertia, flexible configuration design and the like, and has attractive prospects in aerospace, medical treatment, building, agriculture and other applications. The rope traction parallel robot can increase a working space by adjusting the position of a fixed point, but the prior art cannot flexibly remove an unnecessary space such as an obstacle from the working space and tends to follow a constraint that no collision or entanglement of ropes with the obstacle can occur, so that the application of the existing rope traction parallel robot in a complex environment including a plurality of obstacles is limited.
Disclosure of Invention
The invention aims to provide a rope traction parallel robot with flexible working space and a control method, which solve the problem that the application of the existing rope traction parallel robot is limited in a complex environment containing a plurality of obstacles, so that the rope traction parallel robot can be suitable for more complex environments containing a plurality of obstacles.
In order to achieve the above purpose, the invention provides a rope traction parallel robot with flexible working space, which comprises a bottom plate, a base, an end effector, a rope, a driving device, a control device and cylinders for winding the rope, wherein a plurality of bases are arranged on the bottom plate, the bases surround the upper side of the bottom plate to form the working space, guide wheels are arranged at the tops of the bases, the driving device is arranged at one side of the bottoms of the bases, the control device is further arranged on the bottom plate, a single cylinder or a grid curved surface formed by a plurality of cylinders is arranged in the working space, the grid curved surface isolates the obstacle from the working space in a wrapping mode, one end of the rope is connected with the driving device, and the other end of the rope bypasses the guide wheels to extend directly or bypass the cylinder or the grid curved surface and is connected with the end effector.
Preferably, the cylinder is a rigid structure with smooth surface; the ropes can be wound and form a grid curved surface to wrap and isolate the obstacle.
Preferably, the end effector is provided with a sucker or clamping jaw or lens device; the functions of grabbing, stacking, monitoring and the like are realized in a complex environment containing a plurality of barriers.
A control method of a rope traction parallel robot with flexible working space comprises the following steps:
s1, connecting a rope with a driving device and an end effector, sending a control instruction to the driving device through a control device, and driving the rope to control the end effector to move, wherein the rope is wound or not wound on a cylinder in the process of moving the end effector;
s2, solving the path of the rope, wherein the rope is wound on a single cylinder or a plurality of cylinders;
s3, controlling the pose of the rope traction parallel robot, wherein the pose comprises a single cylinder or a plurality of cylinders wound by the rope.
Preferably, when the rope is wound around a single cylinder in S2, solving the path of the rope specifically includes:
s2.1, determining an included angle between a fixed point of the rope on the base and a cylindrical tangent plane I where a base side separation point on the cylinder is located, and an included angle between a fixed point of the rope on the end effector and a cylindrical tangent plane II where an end effector side separation point on the cylinder is located;
s2.2, expanding a fixed point of the rope on the end effector and a side tangent line of the end effector on the cylinder to a cylinder tangent plane I, wherein a rope path between the fixed point of the rope on the base and the fixed point of the rope on the end effector is a straight line;
s2.3, the straight line is the projection of the rope path in a cylindrical tangent plane I, the intersection point of the straight line projected by the tangent line on the side of the cylindrical upper base in the cylindrical tangent plane I is the projection of the separation point on the side of the cylindrical upper base, and the intersection point of the straight line projected by the tangent line on the side of the cylindrical upper end effector in the cylindrical tangent plane I is the projection of the separation point on the side of the cylindrical upper end effector;
s2.4, determining the actual positions of the separation point on the side of the base on the cylinder and the separation point on the side of the end effector on the cylinder through the projection of the separation point on the side of the base on the cylinder and the projection of the separation point on the side of the end effector on the cylinder;
s2.5 determining the path of the rope wound on the single cylinder based on the location of the fixing point on the base, the base side separation point on the cylinder, the end effector side separation point on the cylinder and the fixing point on the end effector.
Preferably, when the rope is wound around a plurality of cylinders in S2, solving the path of the rope specifically includes:
s2.1, determining a plurality of cylinders around which the rope is wound by utilizing a tree structure, sequentially flattening the plurality of cylinders around which the rope is wound from a fixed point on an end effector to a fixed point on a base to a tangent plane with the last cylinder, and obtaining an expanded ribbon structure containing the plurality of cylinders in the tangent plane containing the fixed point of the rope on the base;
s2.2, the rope path between the fixed point of the rope on the base and the fixed point of the rope on the end effector is a straight line in a tangential plane containing the fixed point of the rope on the base;
s2.3, the projection of the straight line in the tangent plane containing the fixed point of the rope on the base, the projection of the intersection point of the straight line and the projection of the base side tangent line on the plurality of cylinders in the tangent plane containing the fixed point of the rope on the base is the projection of the base side separation point on the plurality of cylinders, and the projection of the intersection point of the straight line and the projection of the end effector side tangent line in the tangent plane containing the fixed point of the rope on the base is the projection of the end effector side separation point;
s2.4, determining actual positions of the base side separation points and the end effector side separation points on the cylinders according to the projections of the base side separation points and the projections of the end effector side separation points on the cylinders;
s2.5 determining a rope path wound on the plurality of cylinders based on the location of the fixing point on the base, the base side separation point and the end effector side separation point on the plurality of cylinders, and the fixing point on the end effector.
Preferably, in the step S3, the pose control of the rope traction parallel robot device is realized by solving the rope path wound on the cylinder and adopting an open loop control frame based on inverse kinematics or a closed loop control frame based on inverse speed kinematics.
Preferably, the position and the posture of the end effector are determined by a control device in a task space based on an open loop control framework of inverse kinematics, the target length of the rope is solved according to the inverse kinematics, and the target length of the rope is realized by a driving device to control the end effector.
Preferably, the target speed of the end effector is determined by a control device in the task space based on a closed-loop control framework of inverse speed kinematics, and the target speed of the rope length change is solved according to the inverse speed kinematics; if the target speed of the end effector isTarget speed of rope length variation +.>The method comprises the following steps:
，
wherein the method comprises the steps ofA jacobian matrix representing a rope-drawn parallel robot; the end effector is then controlled using the drive means to achieve a target speed of change in the length of the cable.
The invention has the beneficial effects that:
(1) The invention provides a flexible rope traction parallel robot in working space, which consists of a bottom plate, a base, an end effector, ropes, a driving device, a control device and a column for rope winding, wherein the column is of a rigid structure with a smooth surface, and can be used for rope winding alone or forming a grid curved surface for rope winding, the driving device is used for traction of the ropes, controlling the length, the winding and unwinding speed or the tension of the ropes, further controlling the end effector, the control device is used for resolving the path and the length of the ropes, controlling the driving device to traction the ropes, further controlling the pose of the end effector, and the ropes have the characteristics of good wear resistance, small friction coefficient, light weight and the like, and are used for connecting the driving device with fixed points positioned on the base or the end effector to realize the functions of grabbing, stacking, monitoring and the like in a complex environment containing a plurality of barriers.
(2) The control method of the rope traction parallel robot with flexible working space comprises a solving method of a rope path under the condition that a rope is wound on a single cylinder or a plurality of cylinders; under the condition that the ropes are wound on a single cylinder or a plurality of cylinders, the pose control method of the rope traction parallel robot allows the ropes to be wound on the cylinders so as to change the path of the ropes, uses a plurality of cylinders to form a grid curved surface, removes the corresponding space from the working space of the rope traction parallel robot, further realizes flexible transformation of the working space, and adapts to complex scenes containing multiple obstacles.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic illustration of a workspace-flexible rope-hauling parallel robot of the present invention;
fig. 2 is a schematic representation of the solution of the rope path in the case of the rope of the invention being wound around a single cylinder;
fig. 3 is a schematic representation of a solution to the rope path in the case of the rope of the present invention being wrapped around a plurality of cylinders;
fig. 4 is a tree structure diagram of a rope path in the case where the rope of the present invention is wound around a plurality of cylinders;
fig. 5 is a schematic representation of an end effector trace of the present invention.
Reference numerals:
1. a bottom plate; 2. a base; 3. an end effector; 4. a rope; 5. a driving device; 6. a control device; 7. a cylinder; 8. and a guide wheel.
Detailed Description
The invention will be further described with reference to the drawings and examples. Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The above-mentioned features of the invention or the features mentioned in the specific examples can be combined in any desired manner, and these specific examples are only intended to illustrate the invention and are not intended to limit the scope of the invention.
Example 1
Fig. 1 is a schematic diagram of a robot with flexible working space and rope traction parallel connection, as shown in fig. 1, the invention provides a robot with flexible working space and rope traction parallel connection 4, which comprises a base plate 1, a base 2, an end effector 3, a rope 4, a driving device 5, a control device 6 and a cylinder 7 for winding the rope 4, wherein the base plate 1 is provided with a plurality of bases 2, the base 2 surrounds the upper side of the base plate 1 to form a working space, the top of the base 2 is provided with a guide wheel 8, one side of the bottom of the base 2 is provided with the driving device 5, the base plate 1 is also provided with the control device 6, the working space is provided with a single cylinder 7 or a grid curved surface formed by a plurality of cylinders 7, the grid curved surface is used for wrapping an obstacle and isolating the obstacle from the working space, one end of the rope 4 is connected with the driving device 5, and the other end of the rope 4 bypasses the guide wheel 8 to extend directly or bypass the cylinder or the grid curved surface and is connected with the end effector 3.
The cylinder 7 is a rigid structure with smooth surface, and can be used for winding the rope 4 alone or forming a grid curved surface for winding the rope 4. The driving device 5 is used for pulling the rope 4, controlling the length, the winding and unwinding speed or the tension of the rope 4 and further controlling the end effector 3, and the control device 6 is used for solving the path and the rope length of the rope 4 and controlling the driving device 5 to pull the rope 4 and further controlling the pose of the end effector 3. The rope 4 has the characteristics of good wear resistance, small friction coefficient, light weight and the like, is used for connecting the driving device 5 with a fixed point positioned on the base 2 or the end effector 3, and the end effector 3 can be provided with a sucking disc, a clamping jaw or a lens device to realize the functions of grabbing, stacking, monitoring and the like in a complex environment containing a plurality of barriers.
Example 2
A control method of a rope traction parallel robot with flexible working space comprises the following steps:
s1, connecting the rope with a driving device and an end effector, sending a control instruction to the driving device through a control device, driving the rope to control the end effector to move, and winding the rope on a cylinder in the process of moving the end effector.
S2, solving the path of the rope, wherein the rope is wound on a single cylinder or a plurality of cylinders;
fig. 2 is a schematic diagram of a solution for a rope path in the case of the rope of the present invention being wound around a single cylinder, and as shown in fig. 2, the solution for the rope path specifically includes:
s2.1 determining the fixing point of the rope on the baseSeparation point from the base side of the cylinder>The cylindrical tangential plane is one +.>The fixation point of the rope on the end effector +.>Side separation from end effector on cylinder +.>Cylindrical tangential plane II>The angle between the first cylindrical tangential plane and the second cylindrical tangential plane is +.>；
S2.1.1 the center point of the bottom surface of the cylinderAnd top center point->Cylinder center line->Then it is expressed as:
；
wherein,is the top surface center point +.>Is (are) located>Is the center point of the bottom surface->Is a position of (c).
S2.1.2 rope attachment to the baseIs +/with cylinder center line>Distance of->The method comprises the following steps:
；
wherein,for the fixation point of the rope on the base +.>Is a position of (c).
Attachment point of a cable to an end effectorIs +/with cylinder center line>Distance of->The method comprises the following steps:
；
wherein,for the fixation point of the rope on the end effector +.>Is a position of (c).
S2.1.3 rope attachment to the baseIs +.>And top center point->The cylindrical tangential plane is three->The method comprises the following steps:
；
attachment point of a cable to an end effectorIs +.>And top center point->The cylindrical tangential plane is four->The method comprises the following steps:
；
cylindrical tangential plane threeOne +.>Included angle->The method comprises the following steps:
；
cylindrical tangential plane fourTwo->Included angle->The method comprises the following steps:
；
wherein the method comprises the steps ofIs the radius of the cylinder.
S2.1.4 by three rotations of the cylindrical tangential plane according to the rotation formula of the RodrigasAngle to cylindrical tangent plane one->Obtaining a cylindrical tangential plane I->The method comprises the following steps:
；
by rotating the cylindrical tangential plane four timesAngle to cylindrical tangent plane two->Obtaining a cylindrical tangential plane II->The method comprises the following steps:
；
the included angle between the first cylindrical cutting plane and the second cylindrical cutting planeThe method comprises the following steps:
。
s2.2 fixing the rope to the end effectorExpansion of the side tangent of the end effector on the cylinder to the cylinder tangent plane is +.>In the cylindrical tangential plane one->The fixing point of the inner rope on the base +.>Fixation point with the rope on the end effector +.>The rope path between the two is a straight line;
the end points of the base side tangents on the S2.2.1 cylinder are respectively recorded asAnd->Endpoint->In the plane of the cylinderThe upper position is->：
；
Endpoint(s)In the cylindrical tangential plane one->The upper position is->：
；
The end points of the side tangents of the end effector on the S2.2.2 cylinder are respectively marked asAnd->Endpoint->And->Spread out to the cylindrical tangent plane one->The corresponding projection point is +.>And->；
Projection pointIn the cylindrical tangential plane one->Position on->The method comprises the following steps:
；
projection pointIn the cylindrical tangential plane one->Position on->The method comprises the following steps:
。
s2.2.3 the fixation point of the rope on the end effector according to the rotation formula of the rondrigasRotated to the cylindrical tangential plane one->Projection point on->Position->The method comprises the following steps:
；
wherein,is a cylindrical expansion function.
In the case of a plurality of cylinders, the firstThe expansion function of the individual cylinders is +.>Then->。
S2.3 the straight line is the line path in the tangent plane of the cylinderProjection of the straight line into the cylinder with the base side tangent on the cylinder tangent plane>The intersection point of the inner projections is the base side separation point +.>Projection points of +.>The straight line and the side tangent of the end effector on the cylinder are in the tangent plane of the cylinder>The intersection point of the inner projections is the projection point of the end effector side separation point on the cylinder +.>；
Calculating the projection pointIn the cylindrical tangential plane one->Location in->：
。
S2.4 determining the separation point on the base side of the cylinder by the projection of the separation point on the base side of the cylinder and the projection of the separation point on the end effector side of the cylinderAnd end effector side separation point on cylinder +.>Is the actual position of (2);
calculating the separation point of the base side on the cylinderIs +.>：
；
Calculating the end effector side separation point on the cylinderIs +.>:
。
S2.5 based on fixed points on the baseSide separation point of column upper base>End effector side separation Point on cylinder->And a fixation point on the end effector +.>Is used to determine the path of the rope wound on a single cylinder.
Fig. 3 is a schematic diagram of solving a rope path in the case of winding a rope of the present invention around a plurality of cylinders, and fig. 4 is a tree structure diagram of a rope path in the case of winding a rope of the present invention around a plurality of cylinders, as shown in fig. 3 to 4, solving a rope path specifically includes:
s2.1, determining a plurality of cylinders around which the rope is wound by utilizing a tree structure, sequentially flattening the plurality of cylinders around which the rope is wound from a fixed point on an end effector to a fixed point on a base to a tangent plane with the last cylinder, and obtaining an expanded ribbon structure containing the plurality of cylinders in the tangent plane containing the fixed point of the rope on the base;
s2.2, the rope path between the fixed point of the rope on the base and the fixed point of the rope on the end effector is a straight line in a tangential plane containing the fixed point of the rope on the base;
s2.3, the projection of the straight line in the tangent plane containing the fixed point of the rope on the base, the projection of the intersection point of the straight line and the projection of the base side tangent line on the plurality of cylinders in the tangent plane containing the fixed point of the rope on the base is the projection of the base side separation point on the plurality of cylinders, and the projection of the intersection point of the straight line and the projection of the end effector side tangent line in the tangent plane containing the fixed point of the rope on the base is the projection of the end effector side separation point;
s2.4, determining actual positions of the base side separation points and the end effector side separation points on the cylinders according to the projections of the base side separation points and the projections of the end effector side separation points on the cylinders;
s2.5 determining a rope path wound on the plurality of cylinders based on the location of the fixing point on the base, the base side separation point and the end effector side separation point on the plurality of cylinders, and the fixing point on the end effector.
S3, controlling the pose of the rope traction parallel robot, wherein the pose comprises a single cylinder or a plurality of cylinders wound by the rope. The pose control of the rope traction parallel robot device is realized by solving the rope path wound on the cylinder and adopting an open loop control frame based on inverse kinematics or a closed loop control frame based on inverse speed kinematics.
S3.1, determining the pose of the end effector by a control device in a task space based on an open loop control framework of inverse kinematics, solving the target length of the rope according to the inverse kinematics, and controlling the end effector by utilizing a driving device to realize the target length of the rope.
S3.2, determining the target speed of the end effector by a control device in a task space based on a closed-loop control framework of inverse speed kinematics, and solving the target speed of the rope length change according to the inverse speed kinematics; if the target speed of the end effector isTarget speed of rope length variation +.>The method comprises the following steps:
，
wherein the method comprises the steps ofA jacobian matrix representing a rope-drawn parallel robot; the end effector is then controlled using the drive means to achieve a target speed of change in the length of the cable.
Fig. 5 is a schematic diagram of the track of the end effector of the present invention, as shown in fig. 5, the present invention adopts the control method of the rope traction parallel robot with flexible working space, which allows the rope to wind around the cylinder, further changes the path of the rope, uses a plurality of cylinders to form a grid curved surface, removes the corresponding space from the working space of the rope traction parallel robot, further realizes flexible reconstruction of the working space, and adapts to complex scenes with multiple obstacles.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.

Claims (6)

1. A flexible workspace rope hauling parallel robot, characterized by: the device comprises a bottom plate, a rope and cylinders for winding the rope, wherein a plurality of bases are arranged on the bottom plate, the bases surround the upper side of the bottom plate to form a working space, guide wheels are arranged at the tops of the bases, a driving device is arranged on one side of the bottoms of the bases, a control device is also arranged on the bottom plate, a single cylinder or a grid curved surface formed by a plurality of cylinders is arranged in the working space, one end of the rope is connected with the driving device, and the other end of the rope bypasses the guide wheels to bypass the single cylinder or the grid curved surface formed by the plurality of cylinders to extend and be connected with an end effector;
the control method of the rope traction parallel robot comprises the following steps:
s1, connecting a rope with a driving device and an end effector, sending a control instruction to the driving device through a control device, driving the rope to control the end effector to move, and winding the rope on a cylinder in the process of moving the end effector;
s2, solving the path of the rope, wherein the rope is wound on a single cylinder or a plurality of cylinders;
when the rope is wound on a single cylinder in the S2, the solving of the path of the rope specifically comprises:
s2.1, determining an included angle between a fixed point of the rope on the base and a cylindrical tangent plane I where a base side separation point on the cylinder is located, and an included angle between a fixed point of the rope on the end effector and a cylindrical tangent plane II where an end effector side separation point on the cylinder is located;
s2.2, expanding a fixed point of the rope on the end effector and a side tangent line of the end effector on the cylinder to a cylinder tangent plane I, wherein a rope path between the fixed point of the rope on the base and the fixed point of the rope on the end effector is a straight line;
s2.3, the straight line is the projection of the rope path in a cylindrical tangent plane I, the intersection point of the straight line projected by the tangent line on the side of the cylindrical upper base in the cylindrical tangent plane I is the projection of the separation point on the side of the cylindrical upper base, and the intersection point of the straight line projected by the tangent line on the side of the cylindrical upper end effector in the cylindrical tangent plane I is the projection of the separation point on the side of the cylindrical upper end effector;
s2.4, determining the actual positions of the separation point on the side of the base on the cylinder and the separation point on the side of the end effector on the cylinder through the projection of the separation point on the side of the base on the cylinder and the projection of the separation point on the side of the end effector on the cylinder;
s2.5, determining the path of the rope wound on the single cylinder based on the positions of the fixed point on the base, the base side separation point on the cylinder, the end effector side separation point on the cylinder and the fixed point on the end effector;
when the rope is wound around a plurality of cylinders in the S2, solving the path of the rope specifically comprises:
s2.1, determining a plurality of cylinders around which the rope is wound by utilizing a tree structure, sequentially flattening the plurality of cylinders around which the rope is wound from a fixed point on an end effector to a fixed point on a base to a tangent plane with the last cylinder, and obtaining an expanded ribbon structure containing the plurality of cylinders in the tangent plane containing the fixed point of the rope on the base;
s2.2, in a tangential plane containing the fixed point of the rope on the base, the rope path between the fixed point of the rope on the base and the fixed point of the rope on the end effector is a straight line;
s2.3, the projection of the straight line in the tangent plane containing the fixed point of the rope on the base, the projection of the intersection point of the straight line and the projection of the base side tangent line on the plurality of cylinders in the tangent plane containing the fixed point of the rope on the base is the projection of the base side separation point on the plurality of cylinders, and the projection of the intersection point of the straight line and the projection of the end effector side tangent line in the tangent plane containing the fixed point of the rope on the base is the projection of the end effector side separation point;
s2.4, determining actual positions of the base side separation points and the end effector side separation points on the cylinders according to the projections of the base side separation points and the projections of the end effector side separation points on the cylinders;
s2.5, determining rope paths wound on a plurality of cylinders based on the positions of fixed points on the base, base side separation points and end effector side separation points on the plurality of cylinders, and the fixed points on the end effector;
s3, controlling the pose of the rope traction parallel robot, wherein the pose comprises a single cylinder or a plurality of cylinders wound by the rope.
2. A workspace flexible rope hauling parallel robot as claimed in claim 1, wherein: the cylinder is a rigid structure with smooth surface.
3. A workspace flexible rope hauling parallel robot as claimed in claim 1, wherein: the end effector is provided with a sucker or clamping jaw or lens device.
4. A workspace flexible rope hauling parallel robot as claimed in claim 1, wherein: and S3, solving a rope path wound on the cylinder, and controlling the pose of the rope traction parallel robot device by adopting an open loop control frame based on inverse kinematics or a closed loop control frame based on inverse speed kinematics.
5. A workspace flexible rope hauling shunt robot as claimed in claim 4, wherein: based on an open loop control framework of inverse kinematics, the pose of the end effector is determined by a control device in a task space, the rope target length is solved according to the inverse kinematics, and the end effector is controlled by utilizing a driving device to realize the rope target length.
6. A workspace flexible rope hauling shunt robot as claimed in claim 4, wherein: determining a target speed of the end effector by a control device in a task space based on a closed-loop control framework of inverse speed kinematics, and solving the target speed of the rope length change according to the inverse speed kinematics; if the target speed of the end effector isTarget speed of rope length variation +.>The method comprises the following steps:
，
wherein the method comprises the steps ofA jacobian matrix representing a rope-drawn parallel robot; the end effector is then controlled using the drive means to achieve a target speed of change in the length of the cable.
CN202311819112.5A 2023-12-27 2023-12-27 Rope traction parallel robot with flexible working space and control method Active CN117484479B (en)

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CN111425733A (en) * 2020-03-31 2020-07-17 合肥工业大学 Unmanned agricultural robot driven by parallel flexible cables and control method thereof
CN114347005A (en) * 2022-03-18 2022-04-15 中国科学技术大学 Rope traction parallel robot continuous reconstruction planning method capable of avoiding obstacles

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Publication number Priority date Publication date Assignee Title
CN207078954U (en) * 2017-09-04 2018-03-09 东北林业大学 Cable type drive device
CN110155758A (en) * 2019-06-06 2019-08-23 中国计量大学 The intelligent parallel robot of closing a position of rope driving
CN111425733A (en) * 2020-03-31 2020-07-17 合肥工业大学 Unmanned agricultural robot driven by parallel flexible cables and control method thereof
CN114347005A (en) * 2022-03-18 2022-04-15 中国科学技术大学 Rope traction parallel robot continuous reconstruction planning method capable of avoiding obstacles

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