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Robot cable modeling method under curved surface constraint
Authors
刘玉旺
朱树云
+3 more
杨广新
陈吉彪
陈鹏
Publication date
5 July 2019
Publisher
Abstract
本发明涉及一种曲面约束下机器人线缆建模方法,将操作机器人约束线缆的截面简化成圆截面;对简化后的线缆进行静力学分析,得到线缆非线性力学模型;采用有限差分法进行离散化,得到离散化数学模型;添加操作机器人空间中的线缆曲面约束、定长条件约束和边界条件约束;基于信赖域策略调整的非线性最小二乘算法对约束后的离散化数学模型进行求解,得到包含线所有线缆离散点的欧拉参数和力学特性。本发明根据求解结果验证了该发明的正确性和合理性,利用求解得到的欧拉参数拟合高精度操作机器人线缆的形态,验证了本发明的有效性和正确性,得到了机器人线缆离散点的力学特性,为柔弱高精度操作机器人关节的稳定性分型提供了重要支持
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 07/08/2019