High Integration Modular Design And Compliant Control Of Cable-Driven Parallel Robot

As a special type of robot evolved from the traditional rigid-link parallel robot,the cable-driven parallel robot inherits the advantages of strong payload capacity and fast response speed of the traditional parallel robot.At the same time,thanks to the easy storage of the cable,light weight and good flexibility,the cable-driven parallel robot has the advantages of large workspace,fast reconfigurability,low inertial quality,low construction cost,simple structure and good flexibility.At present,the research and application of the cable-driven parallel robot is still in its infancy,and there is still a certain distance from the maturity of the technology.Therefore,it is of practical significance to design an experimental prototype for the research of cable-driven parallel robot technology in the laboratory.In response to this actual demand,the overall design of the universal cable-driven parallel robot experimental prototype system was carried out,and relevant experimental verification is carried out.Aiming at the requirements of practical laboratory application scenarios,a 8 cabledriven and 6 degree-of-freedom cable-driven parallel robot prototype is designed.The modular design method is used in prototype,integrates high-precision encoder and force sensor on the winch module,and designs a brake and cable anti-loose device to prevent the cabel from coming off in case of power failure.The modular design method can be used for design,assembly and debugging on the one hand,and can also meet the requirements for rapid reconstruction experiment of rope traction parallel robot on the other hand.The kinematics modeling and calibration modeling of the cable-driven parallel robot is carried out.In order to improve the accuracy of kinematic modeling,our proposed kinematic model takes into account the influence of the arc radius of the cable guide pulley.In order to obtain the actual robot structural parameters,the calibration operation is indispensable before the robot is operated.At the same time,considering the need of frequent calibration of the cable cable-driven robot,an efficient self-calibration method is developed.A research on the compliance control of the cable-driven parallel robot was carried out.The impedance control strategy scheme is designed.A simulation results of the impedance control parameters and a simulation of the force/position response effectare analyzed by constructing the Simulink simulation model.A force-free control scheme for robotic interactive teaching was designed.A experimental prototype platform is built and a hardware control system is designed.A single module performance experiment of the winch module is carried out to verify the mechanical performance of the single module.Kinematics experiments of the whole machine are carried out,including high-speed experiment,trajectory accuracy experiment and multi-degree of freedom demonstration experiment.The experiments related to the compliance control of the whole machine were carried out,including impedance control experiments and interactive teaching demonstration experiments.