Robot cable modeling method under hoop constraint

A modeling method and robot technology, applied in the direction of instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as clamp constraints are not considered

Active Publication Date: 2019-07-05
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
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Problems solved by technology

[0003] Aiming at the deficiencies of the prior art, the present invention provides a robot cable modeling method under clamp constraint, which solves the problem that the existing cable modeling method does not take into account the clamp constraint under the space constraints at both ends

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  • Robot cable modeling method under hoop constraint
  • Robot cable modeling method under hoop constraint
  • Robot cable modeling method under hoop constraint

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Embodiment Construction

[0050] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0051] The present invention comprises the following steps:

[0052]Step 1: Simplify the cable section of the high-precision operation robot into a circular section. Including the following:

[0053] 1. The section of the robot cable is a rigid circular section;

[0054] 2. Neglect the shear strain of the robot cable section;

[0055] 3. The length of the robot cable is much greater than the diameter of the cable, and the diameter of the robot cable is ignored;

[0056] 4. The center line of the robot cable is a smooth curve of order 2 or higher.

[0057] Step 2: The slow rotation or oscillation of the joints of the high-precision operation robot occurs when the robot stops for terminal operation, so the static analysis of the high-precision operation robot cable is performed. In formula (1)-(2): based on the Kirchhoff mechanical model, a...

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Abstract

The invention relates to a robot cable modeling method under hoop constraint. The method comprises the following steps: simplifying the cross section of an operation robot constraint cable into a circular cross section; statically analyzing the simplified constraint cable of the operation robot to obtain a cable nonlinear mechanical model; discretizing by adopting a finite difference method to obtain a discretized mathematical model; adding a cable clamp constraint, a fixed-length condition constraint and a boundary condition constraint in an operation robot space; and solving the constraineddiscrete mathematical model by using a nonlinear least square algorithm based on trust region strategy adjustment to obtain Euler parameters and mechanical properties of all cable discrete points. According to the invention, the three-dimensional coordinates of each discrete point of the cable are calculated based on the Euler parameters in the solving result of the robot cable model under the constraint of the hoop; the geometrical shape of the cable is fitted by adopting cubic spline curves, so that the mechanical property of each discrete point of the high-precision operation robot cable isobtained, and an important theoretical support is provided for the stability analysis of the robot joint.

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 constrained by a hoop. Background technique [0002] High-precision manipulative robot technology is one of the hot topics that countries all over the world will compete to study in the future. In extreme environments such as ultra-low temperature and radiation, high-precision operating robots are always in a multi-physics coupling environment. The special high-precision operation robot cable covered by the safety shielding layer will become particularly hard in an ultra-low temperature environment, and the high-precision operation robot motor is often relatively weak due to space constraints. Under the multi-physics field coupling, the high-precision manipulation of robot cables will cause strong nonlinear interference to the weak robot joints, and the robot joints will produce slow rotation and oscillation at speci...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F2111/10G06F2119/06G06F30/20
Inventor 刘玉旺陈吉彪陈鹏王远行杨尚奎
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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