A method for reconfiguration planning of rope-pulled parallel robots

Abstract

The invention discloses a reconstruction planning method for a rope-pulled parallel robot, comprising: step 1, setting the coordinate system and parameters of the rope-pulling parallel robot, and establishing the dynamic equations of the moving platform and the single rope-extracting device respectively; step 2, according to the parameters , establish a mathematical model corresponding to the force feasible workspace; step 3, plan the trajectory of the moving platform and discretize it into a set of moving platform path points, and combine the mathematical model corresponding to the force feasible workspace to determine the force feasible workspace and moving platform path of the current configuration Step 4, determine whether there is an optimal configuration; Step 5, set the objective function that minimizes the number of moving rope index out points in the continuous reconstruction, and solve the rope index out point position sequence in the continuous reconstruction, that is, complete Reconstruction planning for rope-pulled parallel robots. The method performs planning and reconstruction by adjusting to the optimal configuration and carrying out continuous reconstruction, and the number of out-points of the moving rope index is the least, which saves energy.

Description

technical field [0001] The invention relates to the field of rope-pulled parallel robots, in particular to a reconstruction planning method for rope-pulled parallel robots. Background technique [0002] The rope-pulled parallel robot has the advantages of large workspace, high load-to-weight ratio, and easy assembly and layout, but its fixed configuration constrains the performance of the robot, making it difficult to adapt to the needs of different tasks. Therefore, the researchers designed a reconfigurable rope-pulled parallel robot that increases task adaptability by changing the location of the point where the rope connects to the fixed frame, known as the rope exit point. At present, after the target configuration is obtained through optimization, the reconstruction is realized by manual operation before executing the task. This method of offline reassembly hinders the execution of the task and the improvement of production efficiency. [0003] Although Chinese inventi...

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Problems solved by technology

At present, after the target configuration is obtained through optimization, it is often reconfigured through manual operation before performing the task. This method of re-offline assembly hinders the execution of the task and the improvement of production efficiency.

[0003] Although the Chinese invention patent applications 202010192426.7 and CN202010191743.7 disclose the kinematics optimization solution method of the cable-tracted parallel robot with variable structure, they cannot solve the robot reconfiguration planning problem

Chinese invention patent application 201910523043.0 discloses a self-reconfiguration planning method for heterogeneous modular robots based on reinforcement learning algorithms, but the rope-tracted parallel robot is driven by a rope, and the tension of the rope is unidirectional, and the reconfiguration planning suitable for modular robots cannot be applied into a rope-pulled parallel robot

In addition, in the process of continuous reconstruction, it is necessary to continuously adjust the positions of all the rope index points, which not only increases energy consumption, but also increases the risk of collision with obstacles. Minimizing the number of rope-exit points that need to be moved is also a concern, but there is currently a lack of effective reconfiguration planning methods for rope-pulled parallel robots

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