Research On Theoretical Modeling And Motion Control Of Flexible Cable Driven Continuous Robot

With the narrowing of the working space of the robot and the complexity of the environment,there are more requirements for the flexibility of the robot and the traversal ability of the complex environment.For example,there are narrow and complex operating environments in both the nuclear environment and the aeroengine.The traditional industrial manipulator has the problems of insufficient flexibility and high requirement of motion space.Continuous robots have the potential advantages of flexible operation in narrow environments because of their slender arms and rear drive mechanism.In this paper,a continuous flexible-driven robot is developed under the background of narrow operation environment.The main research work is from the aspects of theoretical modeling and motion control.The main work is as follows.1.Mechanical system design of flexible cable driven continuous robot.According to the functional indexes and performance requirements of the robot,the mechanical structures of the robot driving mechanism and flexible arm are designed.The flexible arm is made of crosshinge joint in series,and a spring device is embedded in the adjacent joint unit to balance the weight,which is helpful to improve the flexibility of the flexible arm.2.Kinematic analysis of continuous robots.In order to solve the complex and inefficient problem of inverse kinematics solution of continuous robot,a kinematics modeling method based on planar circular method is presented,which is used to fit the curved motion shape of continuous robot in plane and establish its kinematics model.The position of the robot's end executor and the change curve of the driving line length are simulated and analyzed in the simulation software to verify the correctness of the kinematics model.3.Dynamic analysis of continuous robots.For complex flexible arm structures,the mapping relationship between the driving force and the joint moment is established by using equivalent moment method in joint space through reasonable simplification and decoupling analysis,and the dynamic model is established by using the traditional Lagrange equation.Finally,the dynamic characteristics of the flexible arm are obtained by numerical simulation.4.Development of Continuous Robot Control System and Principle Prototype.A multi-motor coordinated control system for continuous robot is developed.According to the performance indexes of the system,the overall scheme design,motor selection and software and hardware system are carried out.And the assembly,debugging and kinematics experiments of the prototype are completed to verify the rationality of structure design and control system design,the correctness of kinematics model and the validity of inverse kinematics solution method.Finally,the tests and experiments of the prototype show that the continuous robot has good bending movement ability and small space motion flexibility.