Kinematics optimization solving method of rope traction parallel robot with variable structure

Abstract

The invention discloses a kinematics optimization solving method for a rope traction parallel robot with a variable structure. The method comprises the steps: 1, setting a coordinate system and parameters of the robot; 2, determining a static equilibrium equation; 3, determining a constraint relation of traction of a movable pulley block of the space movable platform; 4, performing offline optimization solution according to the steps 5, 6 and 7, and performing online optimization solution according to the steps 8, 9 and 10; 5, establishing an offline optimization solution target; 6, calculating the system rigidity; 7, carrying out optimization solution on the offline optimization solution target by adopting a nonlinear optimization solution method; 8, establishing an online optimization solution target; 9, calculating the interval range of the to-be-solved parameters; 10, according to the interval range of the to-be-solved parameter obtained in the step 9, adopting a nonlinear optimization solving method to carry out online optimization solving on an online optimization target. The system rigidity and the rope tension are used as optimization indexes, and the motion performance ofthe linear moving device is used as a constraint condition, so the kinematics optimization solving efficiency and precision are greatly improved.

Description

technical field [0001] The invention relates to the field of control of a rope-drawn parallel robot, in particular to a kinematics optimization solution method for a variable-structure rope-drawn parallel robot. Background technique [0002] The rope traction parallel robot has the characteristics of strong load capacity, small motion inertia and large working space, and is widely used in large-scale equipment hoisting, aviation simulation support system and logistics storage, etc.; the rope indexing point of traditional rope traction parallel robot is fixed on the structural frame It can also be called a fixed-structure rope traction case robot; the fixed rope traction parallel robot can change the position and attitude of the space moving platform by controlling the length of the rope in the workspace, so as to complete various complex tasks; but limited by the fixed structure Due to the limitations of the fixed-structure rope-pulled parallel robot, the application range i...

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Problems solved by technology

[0005] Based on the problems existing in the prior art, the purpose of the present invention is to provide a kinematics optimization solution method for a variable-structure cable-driven parallel robot, which can solve the problem that there is no kinematics optimization solution for variable-structure cable-driven parallel robots. method, unable to provide technical support for the motion planning and motion control of variable structure rope traction parallel robots

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