Research On Design And Control Of Cable Driven Hyper Redundant Snake-arm Robot

The snake-arm robot is a robot with redundant degrees of freedom based on the principle of bionics,using cables as a driving device.There are a lot of complex and narrow spaces in aeroengine,aircraft fuel tank,space station truss,nuclear power plant pipeline,etc.For tasks in such environments,manual operations are difficult,long-term,and strong.The snake-arm robot can perform this task instead of human beings in a small space.It has broad application prospects which is a research hotspot in the field of robotics.Combining theory and experiment,this thesis studies the hyper-redundant snake-arm robot based on cable drive from the aspects of structural design,model establishment,control research and experimental verification,and realizes the flexible motion and control of the snake-arm robot.According to the basic characteristics of the snake-arm robot,the robot structure of the snake-shaped arm is designed in detail.The joints are connected by a universal joint,each joint has two degrees of freedom of Yaw and Pitch,and six joints are connected in series.The entire snake-arm robot has 12 degrees of freedom,and each joint controls its posture through 3 cables.A total of 18 cables control the entire snake arm robot.The cable adopts a steel wire cable with high strength and small rigidity.The power source is made of a motor screw module,and the power source is concentrated on the base of the snake-shaped arm robot.The whole is circularly distributed to facilitate the arrangement of the cable.The 3D model of the snake arm robot and the engineering drawings are designed by 3D software,and finally used for hardware implementation.According to the designed scheme,the mathematical model of the hyper-redundant snake-arm robot is established,including the kinematic model and the dynamic model.The coordinate system of the snake-arm robot is established by the traditional D-H coordinate method.The mapping relationship between the task space of the snake-arm robot and the joint space and the driving space is derived.The correctness of the mapping relationship is verified by simulation.The force of the snake-arm robot is analyzed.The dynamics of the snake-arm robot is studied in detail.The detailed dynamics model of the hyper-redundant snake-arm robot based on cable drive is established by the second Lagrange equation.Based on the detailed mathematical model of kinematics and dynamics,the control method of the snake-arm robot is studied in detail.According to the complex dynamics and the actual assumptions and simplifications,the kinetic model is simplified to facilitate the design of the controller,and the control model is established in MATLAB/Simulink for simulation verification to verify the rationality and stability of the controller design.And by adjusting the parameters,the control effect is better.The prototype of the hyper-redundant snake-arm robot was designed and fabricated,and the snake-arm robot was experimentally verified.The experimental results show that the designed snake-arm robot has flexible motion ability and can realize complex space motion.