| The Cope-driven parallel robot is a new type of robot that uses the rope as a driving component to realize the spatial positioning movement of the effector.With unique advantages in terms of workspace,payload and dynamic performance,these robots are developing rapidly and widely,and have great research value.Combining with the previous researches on the rope-driven parallel robot,this paper independently designed a 3-DOF rope-drive parallel robot according to the requirements of the project and studied a compliance control method for it.The main work of this paper is as follows:Firstly,a theoretical model of a 3-DOF rope-drive parallel robot is proposed.Then introduced the design description of the body frame,winding mechanism and actuator,and put forward suggestions for improvement in the component installation,and finally built a physical prototype.At the same time,the influence of rope catenary structure and rope pulley diameter on the control is analyzed,and the kinematics analysis is carried out according to the geometric model.The rope length inverse solution algorithm is designed and verified by simulation.Secondly,the mechanics of the rope-driven parallel robot is analyzed,and a tension optimization algorithm is proposed for the tension solution caused by the drive redundancy,which lays a foundation for the hybrid force-position control.At the same time,considering the deformation of the rope under the tension,the stiffness of the rope is analyzed and the stiffness model is established,and then the rope shape variable is embodied to compensate in the control.Then,the trajectory planning and control strategy of the 3-DOF rope-driven parallel robot is studied.The S-type velocity planning and the two paths of straight line and arc are studied,which provide the basis for platform motion.Combining the characteristics of the rope itself and the hybrid force-position control theory in the compliant control,two control strategies for the presence or absence of the position sensor are designed.Finally,the control system of the 3-DOF rope-drive parallel robot was built and verified on the platform.The design of the control circuit diagram and the welding of the control board are completed,and the software programming is completed based on the hardware device,which realizes the motion control of the robot.Through simulink joint simulation and physical platform experiments,the correctness and feasibility of rope length,rope tension and two control methods were verified. |
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