Study On The Design,Collaborative Obstacle Avoidance And Dynamic Of Modularized Reconfigurable Cable Driven Parallel Robot

This thesis is supported by Chinese National Natural Science Foundation,entitled by “Research on dynamic coupling characteristics,control methods and experiments of a modularized reconfigurable equipment of cable-driven parallel robots with electrohydraulic hybrid-driven system”.For modularized reconfigurable cable-driven parallel robots,this thesis focus on the mechanisms innovation design,kinematic and static analyzation,force-closure workspace calculation and evaluation,collaborative obstacle avoidance strategy,dynamics modeling and experiments of reconfigurable cable-driven parallel robots(RCDPR).The main work accomplished in this paper is summarized as follows1.This thesis introduces the hardware of the modularized reconfigurable equipment of cable-driven parallel robot with electro-hydraulic hybrid-driven system,and illustrates the reconfigurable process and various configurations of RCDPR.And a cable-linkage hybrid-driven palletizing robot with series-parallel structure is proposed through mechanisms innovation design.Additionally,the working principle and several configurations of proposed design is also introduced.2.This thesis analyzes the kinematic and static models of the modularized reconfigurable equipment of cable-driven parallel robot and the cable-linkage hybriddriven palletizing robot,respectively.Moreover,the general quick force-closure workspace calculation method for cable-driven series-parallel robots is established.Besides,the kinematic model and force-closure workspace of proposed robot are verified and evaluated on MATLAB.3.The collaborative obstacle avoidance strategies of RCDPR with different environmental obstacles are discussed.Through simplification,the environmental obstacles of RCDPR are classed into two categories,which are the RCDPR with single large-scale obstacles and the RCDPR with complex multi-obstacles.For the RCDPR with single large-scale obstacles,the collaborative obstacle avoidance strategy based on computation geometry and artificial potential field method is purposed.As for the RCDPR with complex multi-obstacles,the collaborative obstacle avoidance strategy based on computation geometry,convex hull mapping method and multi-finger grasp theory is purposed,and the collision-free force-closure workspace of various configurations of RCDPR with different types of obstacles are analyzed.Then,based on the calculated workspace,a collaborative obstacle avoidance strategy for the RCDPR which can achieve optimal cable tension distribution is proposed and verified on MATLAB and experiment platform.4.The coupling dynamic model of modularized reconfigurable equipment of cabledriven parallel robots with electro-hydraulic hybrid-driven system is established by using Lagrangian principle.The comparison of traditional dynamic model and proposed coupling dynamic model that considering in actuator dynamic and elasticity of cable is carried out on MATLAB.Additionally,the coupling effect of actuator dynamic and elasticity of cable is studied.