八索并联机器人空间自由位移精准控制研究

为了使八揉索牵引式并联机器人在空间内实现自由位移,达到其从起始位置运动至终止位置过程中的精准控制目的,建立了八索机器人空间运动模型,选取该机器人模型中八揉索伸缩量为研究对象,分别计算其经一段时间由一个坐标发生空间位移后到达另一个坐标过程中八揉索的伸缩速度,通过该伸缩速度控制八个电机转轮的正反转转速,得到了八索机器人在空间内直线位移的精准控制数学模型,达到了利用变换坐标进行路径规划的方式控制机器人实现点到点的空间运动的目的。采用迭代拟合的计算方法得到了该机器人按给定曲线轨迹运动时各揉索驱动电机的转速与时间的关系,通过反馈控制,实现八索机器人在空间内沿直线、曲线运动的精准控制,达到了空间自由位移的目的。

Research on Precise Control of Space Free Displacement of Eight-cable Parallel Robot

In order to realize the free displacement of the eight-knuckle cable traction parallel robot in space and achieve the precise control of its movement from the starting position to the end position,a space-kinematic model of the eight-cable robot was established,the eight-knead cable in the robot model was selected as the research object to calculate the the expansion and contraction speed of the eight rubbing ropes after they have spatially shifted from one coordinate to another coordinate over a period of time.By using this telescopic speed to control the forward and reverse rotation speeds of the eight motor runners,a precise control mathematical model of the linear displacement of the eight-robot robot in space is obtained,and the purpose of controlling the robot to achieve point-to-point space motion by using coordinate transformation for path planning is achieved.The iterative fitting calculation method is used to obtain the relationship between the rotation speed and time of each kinematic drive motor when the robot moves along a given curve trajectory.Through feedback control,the precise control of the eight-robot robot's linear and curved movement in space is achieved and the purpose of free displacement in space is achieved.