A modeling method for robot cables under surface constraints

Abstract

The invention relates to a modeling method of a robot cable under the constraint of a curved surface, which simplifies the section of the constraint cable of an operating robot into a circular section; performs static analysis on the simplified cable to obtain a nonlinear mechanical model of the cable; and adopts finite difference The discretization method is used to obtain the discretized mathematical model; the cable surface constraint, fixed-length condition constraint and boundary condition constraint in the manipulator space are added; the non-linear least squares algorithm based on the trust region policy adjustment is used for the discretized mathematical model after the constraint The model is solved, and the Euler parameters and mechanical properties of all the discrete points of the cables are obtained. The present invention verifies the correctness and rationality of the present invention according to the solution results, uses the Euler parameters obtained from the solution to fit the shape of the high-precision operation robot cable, verifies the effectiveness and correctness of the present invention, and obtains the robot cable The mechanical characteristics of discrete points provide important support for the stability classification of weak and high-precision manipulative robot joints.

Description

technical field [0001] The invention relates to the technical field of high-precision manipulating robots, in particular to a modeling method for a robot cable under the constraint of a curved surface. Background technique [0002] Under the coupling of multi-dimensional physical fields, limited by the limited operating space of the robot, the power output of the high-precision operation motor is often relatively small, and the robot joints are generally weaker than ordinary robot joints. In extreme environments such as ultra-low temperature, the special strong cable covered by the safety shielding layer will cause strong nonlinear interference to the joints of the weak and high-precision operation robot. At present, the mechanical modeling method for flexible cables only exists under the constraints of both ends of the cable, and cannot be used to model special cables subject to space constraints under the coupling of high-precision manipulative multi-dimensional physical f...

AI Technical Summary

Problems solved by technology

In extreme environments such as ultra-low temperature, the special strong cable covered by the safety shielding layer will cause strong nonlinear interference to the joints of the weak and high-precision operation robot

At present, the mechanical modeling method for flexible cables only exists under the constraints of both ends of the cable, and cannot be used to model special cables subject to space constraints under the coupling of high-precision manipulative multi-dimensional physical fields. The stability analysis of the

Existing methods do not involve special high-precision manipulation of the cable method when the robot cable is in contact with a curved surface

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