Tail end Cartesian space rigidity modeling method for rope-driven linkage mechanical arm

A technique of Cartesian space and modeling method, which is applied in the field of stiffness modeling of Cartesian space at the end of a rope-driven linkage manipulator, and can solve problems such as stiffness modeling of a rope-driven linkage manipulator

Active Publication Date: 2019-01-22
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

However, there is still no solution for modeling the stiffness of the rope-driven linkage manipulator

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  • Tail end Cartesian space rigidity modeling method for rope-driven linkage mechanical arm
  • Tail end Cartesian space rigidity modeling method for rope-driven linkage mechanical arm
  • Tail end Cartesian space rigidity modeling method for rope-driven linkage mechanical arm

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] The specific embodiment of the present invention proposes a method for modeling the end Cartesian space stiffness of the rope-driven linkage manipulator, aiming at solving the mathematical model of the equivalent stiffness of the rope-driven linkage manipulator joints and the equivalent stiffness of the end Cartesian space Express and solve problems to realize the stiffness analysis, static analysis, force control, etc. of this type of manipulator. figure 1 The rope-driven linked manipulator model is given, which includes three parts: the drive box 1, the main body of the manipulator 2 and the end effector 3. The drive box 1 drives the rope to pull the main body of the manipulator to move through the motor. The ropes of this type of manipulator include driving ropes and linkage ropes. The equivalent stiffness of the joints is jointly gen...

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Abstract

The invention discloses a tail end Cartesian space rigidity modeling method for rope-driven linkage mechanical arm. The method includes: calculating integral joint equivalent rigidity of a mechanicalarm linkage rope, calculating according to a velocity-stage kinematic relation between a driving rope and a mechanical arm joint to obtain a Jacobian matrix Gq from a joint space to a driving space, acquiring integral joint equivalent rigidity of the driving rope of the mechanical arm according to a virtual work principle and a variational principle, and calculating mechanical arm joint equivalentrigidity Kq; calculating according to a velocity-stage kinematic relation between a mechanical arm joint variable and a tail end pose to obtain a Jacobian matrix Jq from the joint space to the tail end Cartesian space, and acquiring an equivalent rigidity Ke, in the tail end Cartesian space, of the mechanical arm joint equivalent rigidity Kq according to the virtual work principle and the variational principle. Rigidity analysis and control of the rope-driven linkage mechanical arm can be realized, and the method can be applied to rigidity analysis, statics analysis, force control and the like of the rope-driven linkage mechanical arm.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a method for modeling the end Cartesian space stiffness of a rope-driven linkage type mechanical arm. Background technique [0002] Due to the limitations of its own structural characteristics, traditional discrete joint manipulators cannot be applied in unstructured and small environments. The super-redundant manipulator with rigid connecting rods connected in series through the cross shaft has good motion flexibility and good rigidity, but the fully-driven super-redundant manipulator has a driving rope at the connection of each connecting rod, which leads to overall The number of drive motors is large. In order to reduce the number of drive motors and ensure the arm length and degree of freedom requirements, a multi-joint linkage method can be adopted. Through the internal linkage ropes of adjacent joints, the degrees of freedom of the same rotation axis direction of se...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/16B25J19/00
Inventor 孟得山梁斌王学谦芦维宁刘天亮徐文福
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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