Low-dimensional equivalent dynamics modeling method and high-agility controller for rope-cluster driven manipulator

Through low-dimensional equivalent dynamic modeling method and improved iterative Newton Euler's method and the second Lagrangian equation, the rope cluster drive robot arm is dynamically modeled, solving the problem of difficult to consider in the existing technology, and achieving an efficient controller design suitable for high-speed motion conditions.

CN119347790BActive Publication Date: 2025-03-25启元实验室
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Patent Information

Application Number
CN202411899918.4
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-12-23
Publication Date
2025-03-25
Estimated Expiration
2044-12-23

AI Technical Summary

Technical Problem

The existing rope tunnel drive robot arm modeling method is difficult to effectively consider the dynamic characteristics of the system, resulting in poor performance of the controller under high-speed motion conditions and high model complexity, making it difficult to be suitable for controller design.

Method used

Using a low-dimensional equivalent dynamic modeling method, dynamic modeling is performed based on momentum momentum theorem and improved iterative Newton Euler's method and the second Lagrangian equation, simplifying the model and taking into account the elastic properties of the driving rope.

Benefits of technology

A simplified and intuitive dynamic modeling method is realized, suitable for slow and high-speed working conditions, improving the effect of controller design and the motion performance of rope trench drive robot arm.

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Abstract

The present application provides a low-dimensional equivalent dynamic modeling method for a rope cluster driven manipulator, a high-agility controller and a rope cluster driven manipulator, and relates to the technical field of rope cluster driven manipulators. The present application provides a low-dimensional equivalent dynamic modeling method for a rope cluster driven manipulator, which includes simplifying the planar motion of the wrist joint and the elbow joint to a pure rolling motion; based on the momentum moment theorem, and in combination with the driving torque of the driving rope and the gravity torque, the wrist joint or elbow joint is dynamically modeled; based on the improved iterative Newton-Euler method and at least one of the second-kind Lagrangian equations, the whole arm of the rope cluster driven manipulator is dynamically modeled. The present application establishes an equivalent rope modeling method that takes into account the elastic characteristics of the driving rope and ignores the inertial characteristics of the driving rope, so that while satisfying the calculation accuracy, there is no need to divide the driving rope into rope units, and the dynamic characteristics of the driving rope are retained while simplifying the modeling process and the complexity of the equation, which is convenient for controller design.
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