全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

6自由度绳牵引并联起重机器人的研究进展

DOI: 10.11830/ISSN.1000-5013.2009.06.0601

Keywords: 刚柔混合支链, 绳牵引, 并联机器人, 吊具

Full-Text   Cite this paper   Add to My Lib

Abstract:

阐述绳牵引并联机器人的优点及应用领域,介绍基于矢量封闭原理,按绳的根数与末端执行器自由度数之间关系的绳牵引并联机器人的分类方法.指出每类机器人都可作为起重机器人用于货物吊装,以及在机构类型为欠约束的,由3根绳牵引的6自由度并联起重机器人的每个支链上加上1个移动自由度的杆支撑机构,从而产生新型6自由度机器人系统的概念.研究该类机器人机构构型配置与吊具可控工作空间的关系,提出简化而可行的反馈控制策略,以实用化吊具轨迹跟踪控制方案.拓展该新型6自由度机器人系统的含义,提出含3个刚柔混合支链的6自由度并联起重机器人的概念,并将其应用到对大型造船门式起重机的改造上.

References

[1]  NING Ke-jun, ZHAO Ming-yang, LIU Jie. A new wire-driven three degree-of-freedom parallel manipulator [J]. Journal of Manufacturing Science and Engineering, Transactions of the ASME, 2006(3):816-819.doi:10.1115/1.2194061.
[2]  MA Ou, DIAO Xiu-min. Dynamics analysis of a cable-driven parallel manipulator for hardware-in-the-loop dynamic simulation [A]. California, 2005.837-842.
[3]  KAWAMURA S, IDA M, WADA T. Development of a virtual sports machine using a wire driven system-a trial of virtual tennis [A]. [s.n.], 1995.111-116.
[4]  MING A, HIGUCHI T. Study on multiple degree of freedom positioning mechanisms using wires (Ⅰ):Concep design and control [J]. International Journal of the Japan Society for Precision Engineering, 1994(2):131-138.
[5]  KINO H, YAHIRO T, TAKEMURA F. Robust pd control using adaptive compensation for completely restrained parallel-wire driven robots:Translational systems using the minimum number of wires under zero-gravity condition [J]. IEEE TRANSACTIONS ON ROBOTICS, 2007(4):803-812.
[6]  BOSTELMAN R, ALBUS J, DAGALAKIS N. RoboCrane project:An advanced concept for large scale manufacturing [A]. Orlando:[s.n.], 1996.509-521.
[7]  耿永锋, 陈峰. 6-6型绳牵引并联起重设备位姿空间与方位空间研究 [J]. 科技资讯, 2007, (20):28-29.doi:10.3969/j.issn.1672-3791.2007.20.020.
[8]  MAIER T, WOERNLE C. Inverse kinematics for an underconstrained cable suspension manipulator [M]. Dordrecht:kluwer Academic Publishers, 1998.97-104.
[9]  HEYDEN T, WOERNLE C. Dynamics and flatness-based undetermined cable suspension manipulator [J]. Multibody System Dynamics, 2006, (16):155-177.doi:10.1007/s11044-006-9023-5.
[10]  YAMAMOTO M, YANAI N, MOHRI A. Trajectory control of incompletely restrained parallel wire-suspended mechanism based on inverse dynamics [J]. IEEE Transactions on Robotics, 2004(5):840-850.
[11]  郑亚青. 大型造船门式绳牵引并联起重机器人的运动学控制 [J]. 机电技术, 2007, (z1):224-227.
[12]  郑亚青. 大型造船门式绳牵引并联起重机器人的机构设计与运动学位置逆解分析 [J]. 华侨大学学报(自然科学版), 2009(4):366-370.
[13]  ALBUS J, BOSTELMAN R, DAGALAKIS N. The NIST robocrane [J]. Journal of ROBOTIC SYSTEMS, 1993(5):709-724.doi:10.1002/rob.4620100509.
[14]  GORMAN J J, JABLOKOW K W, CANNON D J. The cable array robot:Theory and experiment [A]. Seoul, Korea, 2001.2804-2810.
[15]  郑亚青. 吊装绳牵引并联起重机器人的建模分析 [J]. 华侨大学学报(自然科学版), 2009(5):496-501.
[16]  刘树青, 吴洪涛. 一种新型起重机器人的运动学分析与应用 [J]. 河北科技大学学报, 2004(2):58-61.doi:10.3969/j.issn.1008-1542.2004.02.015.
[17]  ARAI T, OSUMI H. Three wire suspension robot [J]. Industrial Robot, 1992, (19):17-22.
[18]  MAIER T, WOERNLE C. Kinematic control of cable suspension robots [A]. Varna:[s.n.], 1997.421-430.
[19]  MAIER T, WOERNLE C. Flatness-based control of underconstrained cable suspension manipulators [A]. Nevada:[s.n.], 1999.359-369.
[20]  MAIER T, WOERNLE C. Dynamics and control of a cable suspension manipulator [A]. Duisburg:University of Duisburg, 2001.
[21]  HEYDEN T, MAIER T, WOERNLE C. Trajectory tracking control for a cable suspension manipulator [M]. Dordrecht:kluwer Academic Publishers, 2002.125-134.
[22]  HEYDEN T, MAIER T, WOERNLE C. Path tracking control for a three-cable manipulator [A]. Ilmenau:[s.n.], 2003.
[23]  HEYDEN T, WOERNLE C. Exact state-space linearization of a kinematically undetermined cable suspension manipulator [A]. Ilmenau:[s.n.], 2004.
[24]  HEYDEN T, WOERNLE C. Flatness-based trajectory tracking control of an under-constrained cable suspension manipulator [J]. Journal of Proceedings in Applied Mathematics and Mechanics, 2004(1):129-130.
[25]  路英杰, 任革学. 刚体动力学方程的一个辛积分方法 [J]. 应用数学和力学, 2006(1):47-52.doi:10.3321/j.issn:1000-0887.2006.01.007.
[26]  路英杰. 大射电望远镜馈源支撑系统定位与指向控制研究 [D]. 北京:清华大学, 2007.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133