柔索牵引式力觉交互机器人工作空间分析

Analysis of the Workspace of Flexible Cable Driven Haptic Interactive Robot

为了在地面上实现航天员的虚拟作业训练,基于柔索牵引式并联机器人,研究了与VR技术结合的柔索牵引式力觉交互机器人的力螺旋可行工作空间。建立平面柔索的静力学模型,分析竖直平面内4柔索3自由度末端执行器不同位姿及人机交互力下的力螺旋可行工作空间,对比分析了柔索牵引式力觉交互机器人在实际应用中交叉柔索不同布局方式、外力旋量和末端执行器不同结构参数对力螺旋可行工作空间的影响。确定了合理的柔索牵引式力觉交互机器人的力螺旋可行工作空间、合理的柔索布局、末端执行器的结构参数。因为柔索牵引式力觉交互机器人具有工作空间大、可以提供较大的力及力矩、刚度可变、安全性高、人机交互性强等优点,因此可以满足航天员虚拟作业训练的需求。

In order to realize the virtual operation training of astronauts on the ground,based on the cable driven parallel robot,research on the flexible cable combined with the VR technology and the feasible wrench workspace of the parallel haptic interactive robot is carried out. A static model of the planar cable is built,the 4-flexible-cable 3-degrees-offreedom end effector with different poses within the vertical pane and the feasible wrench workspace are analyzed,and the effects of the different layout,the external wrench and the different structural parameters of the end effector on the feasible wrench workspace in the practical applications of the flexible cable-driven haptic interactive robot are investigated. The feasible wrench workspace,the reasonable flexible cable layout and the structural parameters of the end effector are determined. The flexible cable driven force interactive robot has a large workspace,large force and torque,variable stiffness,high safety and strong human-machine interaction,and can meet the needs of the virtual operation training of astronauts.