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Branch analysis method for kinematics of driving robot with N freedom degrees through N+1 wires

A technology of robot kinematics and analysis method, which is applied in the field of branch analysis of kinematics of N+1 wire-driven robots with N degrees of freedom, which can solve the problems of cumbersome process and easy error, and achieve the effect of simplifying the modeling process

Inactive Publication Date: 2015-01-21
TIANJIN POLYTECHNIC UNIV
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Problems solved by technology

In these steps, a lot of direction judgment, formula derivation, formula substitution and equation construction are required, the process is cumbersome and error-prone

Method used

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  • Branch analysis method for kinematics of driving robot with N freedom degrees through N+1 wires
  • Branch analysis method for kinematics of driving robot with N freedom degrees through N+1 wires
  • Branch analysis method for kinematics of driving robot with N freedom degrees through N+1 wires

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Embodiment Construction

[0021] The branch analysis method of the present invention will be described in detail below in conjunction with specific embodiments.

[0022] In order to simplify the analysis, N + 1 wires drive the robot with N degrees of freedom to follow the following assumptions: (1) All wires are always in tension, and the elongation of wires caused by tension is ignored; the distance between wires and wheels is The friction force is large enough so that there is no relative slip motion between the wire and the wheel; the wire is light in weight, and the inertia, bending and shear effects of the wire are negligible; (2) the mechanism follows the general degree of freedom equation, and the mechanism is a joint type , and after removing the wire and the wheel, the mechanism becomes an open-loop chain robot. Each wheel has a rotary joint on its axis, and in order to obtain a constant center distance between the two wheels, each pair of wheels connected by wire has a common support body.

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Abstract

The invention discloses a branch analysis method for the kinematics of driving a robot with N freedom degrees through N+1 wires. According to the method, a branch matrix B and a motor drive space equivalent-radius matrix Rmb can be used for fast describing the kinematics mapping relation between a wire transmission robot joint space and a motor drive space. By observing a planar transmission schematic diagram of the wire transmission robot, the branch matrix and the motor drive space equivalent-radius matrix can be directly listed, the model of the mapping relation between motor rotor angular replacement and joint angular replacement is obtained, kinematic coupling between the joints of the robot caused by wire transmission is decoupled, the modeling and analysis process of the wire transmission robot kinematics is quickened and simplified, and a foundation is laid for the design of a wire transmission mechanism and kinematics analysis and control.

Description

technical field [0001] The invention relates to a method for branch analysis of robot kinematics with N degrees of freedom driven by N+1 wires. The method can quickly establish the joint space and motor drive of the wire-driven robot by using the branch matrix and the equivalent radius matrix of the motor drive space. A kinematic mapping relationship model between spaces. Background technique [0002] Compared with traditional mechanical transmission technology, wire transmission technology has advantages such as being suitable for long-distance transmission of motion and power, and the power source can be arranged away from joints, thereby simplifying the design of motion structures; it is easy to change direction during long-distance transmission; The transmission structure is simple, small and compact, which is very suitable for multi-degree-of-freedom layout in a limited space; there is no hysteresis under proper preload, it can absorb vibration, and make the movement of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00
Inventor 桑宏强许丽萍杨铖浩陈发贠今天常丽敏
Owner TIANJIN POLYTECHNIC UNIV
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