Design And Motion Control Of Decoupling Cable-driven Manipulator

The study of robotic arms has gained popularity recently both locally and abroad.The encouragement of industrial upgrading,the growth of high-end manufacturing and the development of intelligent manufacturing have all contributed to China’s rapid development of robotic arms and intelligent control systems.cable-driven robotic arms with flexible joint features have drawn more attention as a way to meet the requirements of increasingly demanding tasks.cable-driven robotic arms differ from conventional motor-driven articulated robotic arms in that their bigger drive units are mounted at the robotic arm’s bottom base,where they transmit power to the joint end.The cable-driven robotic arm have a high load-to-weight ratio and exceptional joint flexibility thanks to this structural feature.The multi-jointed cable-driven robotic arm’s joint independence is compromised by a motion coupling issue and limitations imposed by the layout strategy for cable transmission.This article investigates the coupling issue with cable-driven motion and suggests appropriate solutions.On the basis of this,the fundamental design of the robotic arm and high-precision motion control are implemented.The research for this article mostly focuses on the following topics.This article examines the motion coupling issue with cable-driven joints and suggests a brand-new layout technique based on the compact structure design objective.By using structural means,the motion decoupling between joints is accomplished,and a modular cable-driven decoupling joint structure is created using this layout technique.In order to passively obtain a constant platform attitude at the end of the robotic arm using the phenomena of cable coupling,a framework was created from the perspective of the operating requirements of the robotic arm.A decoupling cable-driven manipulator was created after merging the designs of various modules,and studies have shown that the decoupling scheme suggested in this study has good joint decoupling capabilities under various load circumstances.A dynamic model of the flexible joint was developed taking into account the flexibility of the cable and the interference of friction,and the stiffness coefficient of the cable-driven joint was computed in order to accomplish high-precision control of a cabledriven robotic arm.In order to reduce the vibration caused by joint flexibility,an innovative dual end control framework for cable-driven robotic arms is proposed,and based on this,a PD control method is proposed for high-precision trajectory tracking control.A fuzzy adaptive PID control method and an adaptive control method based on the PD control method were presented to optimize the joint end control law and simulation research was carried out in order to increase the robustness of robotic arm control under unknown end loads.Finally,The three control approaches suggested in this work were tested under various load circumstances,and repeated sets of motion control validation experiments were carried out on a decoupling cable-driven manipulator prototype.The comparative study of experimental findings demonstrates that the adaptive control method has excellent robustness for unknowable loads and great control precision.The adaptive control method’s control precision was then evaluated at various speeds.The findings of the experiments demonstrate that the adaptive control method achieves the study objective of motion control for decoupling cable-driven manipulator with globally steady control accuracy.