冗余并联柔索机器人变刚度控制的研究

Research on Variable Stiffness Control of the Redundant Wire-Driven Parallel Manipulators

在冗余并联柔索机器人的刚度研究中,大多忽略柔索的内张力,而实际上柔索内张力对系统刚度影响较大,尤其是并联柔索驱动机构。因此运用微分变换原理得到了冗余并联柔索机器人刚度矩阵的完整解析表达式,验证了冗余并联柔索机器人的刚度不仅与柔索刚度有关,还与柔索内张力有关。利用该刚度矩阵对冗余并联柔索机器人进行刚度规划,得到独立可控的柔索内张力期望值,并通过内张力控制实现冗余并联柔索机器人的变刚度控制,进行了仿真分析,验证了理论分析的结论。

The internal tension of the wires are mostly igaored on research of wire-driven parallel manipulators, but in fact the control performance of system was greatly influenced by the internal tension of the wires, especially for the wire -driven parallel manipulators. A complete analytic expression of stiffness matrix for the redundant wire-driven parallel manipulator is acquired; the stiffness of wire-driven parallel manipulator is not only related to flexible stiffness, but also related to internal tension which is tested. The stiffness planning of the redundant wire-driven parallel manipulator is proposed by using stiffitess matrix, the desired value of the internal tension of wire-driven parallel manipulator is obtained, the stiffness control of the wire-driven parallel manipulator is realized by using internal tension control, simulation analysis has carried on, and the conclusion of theoretical analysis is verified.