WO2020216155A1 - 一种绳驱动连续型机械臂的三维静力学建模方法 - Google Patents
一种绳驱动连续型机械臂的三维静力学建模方法 Download PDFInfo
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- WO2020216155A1 WO2020216155A1 PCT/CN2020/085493 CN2020085493W WO2020216155A1 WO 2020216155 A1 WO2020216155 A1 WO 2020216155A1 CN 2020085493 W CN2020085493 W CN 2020085493W WO 2020216155 A1 WO2020216155 A1 WO 2020216155A1
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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
- B25J9/16—Programme controls
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
Abstract
Description
符号 | 参数 | 数值 |
E | 杨氏模量 | 6.79·10 10Pa |
I | 转动惯量 | 4.83·10 -12m 4 |
d | 过孔半径 | 0.04m |
g | 重力加速度 | 9.785m/s 2 |
L | 弹性杆长度 | 0.25m |
m d | 圆盘质量 | 4.79·10 -2kg |
Claims (10)
- 一种绳驱动连续型机械臂的三维静力学建模方法,其特征在于,包括以下步骤:S1:根据三关节伪刚体模型,建立每个等效的扭簧的三维力平衡方程,得到所述绳驱动连续型机械臂受到预定的绳索拉力、外力和重力时的每个所述扭簧的偏转角度;其中所述绳驱动连续型机械臂包括多个分段,每个分段分别包括多个分节,每个分节之间依次通过圆盘连接起来,且每相邻的两个所述圆盘之间夹着一个弹性部件,每个分段分别对应多根驱动绳索,且所有驱动绳索分别穿过多个所述圆盘上至所述绳驱动连续型机械臂的一端以通过所有驱动绳索施加绳索拉力来驱动所述弹性部件弯曲;每个所述弹性部件等效为由三个扭簧连接的四段刚性杆组成的梁;S2:根据每个所述扭簧的偏转角度,分别建立绳索拉力、外力和重力对每个所述分节末端的合力和合力矩表达式;S3:将绳索拉力、外力和重力对每个所述分节末端的合力和合力矩表达式代入到每个所述扭簧的三维力平衡方程,得到所述绳驱动连续型机械臂的三维静力学平衡方程。
- 根据权利要求3所述的绳驱动连续型机械臂的三维静力学建模方法,其特征在于,其中第i分节的第k根绳索的拉力 kF i,j的计算公式为:kF i,j= kf i,j* kp i,j其中, kf i,j表示第i分节的第k根绳索的拉力大小, kp i,j表示第i分节的第k根绳索的拉力方向;且第i分节的第k根绳索的拉力大小 kf i,j的递推计算公式为:其中,μ表示绳索与绳孔之间的摩擦系数, kq i,j表示第i分节的第k根绳索的摩擦力的方向, kη i+1,j表示 kp i,j与 kp i+1,j之间的夹角, kf 0,j为初始的驱动绳索拉力大小;第i分节的第k根绳索的拉力方向的计算公式为:kp i,j=( kA i,j- kA i+1,j)/|| kA i,j- kA i+1,j||其中, kA i,j表示第i分节的第k根绳索对应的绳孔的位置。
- 根据权利要求4所述的绳驱动连续型机械臂的三维静力学建模方法,其特征在于,第i+1分节的第k根绳索对应的绳孔的位置 kA i+1,j的递推计算公式为:kA i+1,j= iT i+1 kA i,j其中, iT i+1表示从O i坐标系变换到O i+1坐标系的坐标变换矩阵。
- 根据权利要求5所述的绳驱动连续型机械臂的三维静力学建模方法,其特征在于,其中第1分节的第k根绳索对应的绳孔的位置 kA 1,j的计算公式为:kA 1,j=[d cos(α+β+ψ) d sin(α+β+ψ) 0]其中,β=2π(j-1)/(m*s),α=2π(k-1)/m,d是绳孔中心到圆盘中心的距离,ψ表示驱动第一分段的第一根驱动绳索的偏转角度。
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CN110076775B (zh) * | 2019-04-25 | 2020-07-28 | 清华大学深圳研究生院 | 一种绳驱动连续型机械臂的三维静力学建模方法 |
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CN110561425B (zh) * | 2019-08-21 | 2021-02-19 | 哈尔滨工业大学(深圳) | 绳索驱动的柔性机器人力位混合控制方法及系统 |
CN110977953B (zh) * | 2019-12-05 | 2022-06-14 | 大连理工大学 | 基于张拉整体结构的连续型机械臂装置 |
CN111238367B (zh) * | 2020-01-13 | 2021-04-02 | 清华大学深圳国际研究生院 | 一种绳驱机械臂三维臂型测量方法及装置 |
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CN113733093B (zh) * | 2021-09-17 | 2022-12-09 | 清华大学深圳国际研究生院 | 一种基于建模的方式预测柔性机械臂的动力学输出的方法 |
CN114099227B (zh) * | 2021-10-25 | 2023-10-10 | 清华大学深圳国际研究生院 | 一种脊柱康复机器人及其系统、形状感知和运动控制方法 |
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CN109325315A (zh) * | 2018-11-13 | 2019-02-12 | 清华大学深圳研究生院 | 一种连续型机械臂的静力学建模方法 |
CN110076775A (zh) * | 2019-04-25 | 2019-08-02 | 清华大学深圳研究生院 | 一种绳驱动连续型机械臂的三维静力学建模方法 |
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