Research On Design And Control Of Motion Decoupled Modular In Cable-Driven Robot

In view of the problems of high quality,high inertia,low load-to-weight ratio and poor interactivity of traditional industrial robots,cable-driven technique is used to improve these aspects.Cable-driven robots perform better in areas of high interaction such as medical care,family and service.What's more,it plays a better role in condition when working on a mobile carrier such as underwater or space operating.In this paper,the motion coupling problem in the cable-driven robot technology is analyzed and solved in detail.And also,a high-precision motion control algorithm is proposed for the cabledriven rigid-flexible coupling system.The paper mainly studies the following contents:Firstly,the joint motion coupling phenomenon in the cable-driven manipulator is analyzed.In order to avoid the adverse effect to the motion accuracy and reliability of the robot caused by coupling problem,a new modularized passive decoupling scheme is designed.It lets the cables pass through the joint in a new routing,thereby eliminating the influence of the proximal joint motion on the length of the distal joint driving cable.At last,the independence of motion between the joints can be achieved.Then,the comprehensive experimental platform of the cable-drive robot is established.The platform is built in three aspects of mechanical system,electrical system and software system,so that it can better meet the requirements of robot performance and experimental test.On this basis,the decoupling effect verification experiments of the two decoupling mechanisms proposed were carried out on,and the decoupling mechanism design was optimized based on the experimental results.Finally,the passive decoupling module based on the planetary bevel gear system was determined after multifaceted comparison.Finally,for the difficulty in accurately establishing the dynamic model and cable transmission model of this system,a nonlinear high-precision control technique is proposed.A fuzzy PD control strategy based on time delay estimation and friction compensation is adopted.Time delay estimation is used to estimate the system parameter items and the sensor data is used to calculate the dynamic compensation of the torque loss caused by friction.What's more the fuzzy algorithm is used to dynamically adjust the parameters of the PD controller.Verification experimental and comparative analysis of the proposed algorithm are carried out in the Simulink Real-time control platform.And the superiority of the control strategy to improve the tracking accuracy of the cable-driven robot is illustrated.