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A Modeling Method for Robot Cables Constrained by Clamps

A modeling method and robot technology, applied in the direction of constraint-based CAD, instrumentation, computer-aided design, etc., can solve problems such as clamp constraints are not considered

Active Publication Date: 2021-10-08
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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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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  • A Modeling Method for Robot Cables Constrained by Clamps
  • A Modeling Method for Robot Cables Constrained by Clamps
  • A Modeling Method for Robot Cables Constrained by Clamps

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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 modeling method for a robot cable constrained by a hoop, which simplifies the cross section of the constrained cable of an operating robot into a circular cross section; performs static analysis on the simplified constrained cable of an operating robot to obtain a nonlinear mechanical model of the cable ;Using the finite difference method for discretization to obtain a discretized mathematical model; adding cable clamp constraints, fixed-length condition constraints and boundary condition constraints in the manipulator space; nonlinear least squares algorithm based on trust region policy adjustment for constraints The final discretized mathematical model is solved, and the Euler parameters and mechanical properties of all the discrete points of the cables are obtained. The present invention calculates the three-dimensional coordinates of each discrete point of the cable based on the Euler parameter in the solution result of the robot cable model under the constraint of the clamp, and adopts the cubic spline curve to fit the geometric shape of the cable to obtain each discrete point of the high-precision operation robot cable. The mechanical properties of points provide important theoretical support for the stability analysis of 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 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 Patents(China)
IPC IPC(8): G06F30/20G06F111/04G06F119/14G06F113/16
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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