Structure Design And Kinematics Analysis Of Wire Driven Super-Redundant Robot

Traditional robots have been widely used in industries,such as machinery manufacturing,assembly,welding,etc.However,due to the limitation of size structure and movement mode,they can not complete the tasks in complex environments,such as aircraft fuel tank detection,oil and gas pipeline detection,nuclear power plant equipment maintenance,disaster rescue and so on.Therefore,super-redundant robots with large aspect ratio and flexible movement become the alternative Traditional robot is an important choice.Aiming at the complex and narrow working environment,this paper develops a wire driven super-redundant robot with good bending characteristics and flexible motion.Based on the analysis of the existing mechanical structure and the performance requirements of the mechanical system,a new type of double degree of freedom spherical joint is designed,and a 20 degree of freedom super-redundant manipulator based on the new type of spherical joint series is designed.The manipulator has compact structure and good bending characteristics.The force analysis of the line driven super-redundant manipulator is carried out through the geometric analysis method the rationality of the selection of the drive rope is proved,and the selection of the drive motor of the super-redundant manipulator and the joint strength check are completed.According to the analysis of motion characteristics and kinematics solution method of super-redundant manipulator,an inverse kinematics solution algorithm based on improved ridge method is proposed to solve the inverse kinematics relationship between robot joint space and operation space,and the correctness of the algorithm is verified by numerical simulation with MATLAB.In addition,according to the structural characteristics of modular single joint,the kinematics model of single joint is established to solve the driving space of single modular joint,the kinematics relationship of joint space and the workspace of single joint.Finally,on the basis of solving the coupling relationship between the two joints,the multi-joint coupling analysis of the super-redundant manipulator is completed.Aiming at the motion characteristics of the line driven super-redundant robot,the cubic spline interpolation algorithm is used to carry out the space linear motion and space circular motion trajectory planning of the super-redundant manipulator,and the joint angle and angular velocity corresponding to each moment of the super-redundant manipulator motion are solved by MATLAB;according to the bionic motion characteristics of the super-redundant manipulator,the geometric method based on shape control is adopted The simulation results show that the algorithm is effective.According to the mechanical system of the line driven super-redundant robot and the related motion performance requirements,the overall scheme design of the control system with three-layer architecture is completed,including the hardware construction of the control system,the overall design of the software system,and the communication design between the control systems of each layer.