摘要
设计并制作了一种三自由度柔索驱动太空舱外平面搬运机器人。建立了该机器人的运动学模型,利用Matlab软件解算了相应的模型。在此基础上,对其进行了轨迹规划,仿真分析了沿运动轨迹运动时,驱动柔索长度的变化规律。基于正交补的方法分析了该机器人的工作空间,避免了通常采用广义逆求解工作空间时由于向量z的任意性引入的求解问题。通过实验验证了所构建机器人运动学模型的正确性及其运动的连续可控性。研究表明:该机器人沿轨迹运动时,柔索长度连续变化,保证了搬运机器人在整个作业过程运行平稳、连续;该机器人的定位精度、工作空间能满足太空舱外的搬运操作要求。
A three-DOF cable-driven extravehicular planar transport robot with four cables was designed and manu- factured. The kinematic models of the robot were established and then solved by Matlab. The trajectory was planned and the changes of the length of the four cables were simulated along the trajectory based the models. Fur- thermore, the workspace of the robot was analyzed based on the method of orthogonal complement, which can avoid the solving problems brought by the arbitrariness of the vector z. And the kinematic models and the continuous and controllable movement have been verified by an experiment platform. Research shows that the changes of the length of cables are continuous when the robot moves along the planned trajectory, which ensures the smooth and continu- ous movement of the robot during the whole operation, and the accuracy of positioning and the workspace of the ca- ble-driven robot can also satisfy the task requirements.
出处
《机械科学与技术》
CSCD
北大核心
2012年第11期1748-1753,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
南京航空航天大学基本科研业务费专项科研项目(NS2010119)资助
关键词
柔索驱动
建模
轨迹规划
正交补
工作空间
cable-driven
transport robot
trajectory planning
trajectories
orthogonal complement
workspace
