Design and Kinematic Modeling of Cable-driven 4-SPS/U Rigid-flexible Parallel Trunk Joint Mechanism with Spring

doi:10.3969/j.issn.1000-1093.2019.11.020

Abstract

Abstract: A two-degrees-of-freedom cable-driven 4-SPS/U rigid-flexible parallel trunk joint mechanism is proposed by using the construction method of over-constrained parallel mechanism, which has the advantages of wire-driven mechanism and rigid parallel mechanism. A mobile hexapod robot which is composed by the trunk joint mechanisms is established. The trunk joint mechanism can enable the hexapod mobile robot to flexibly realize various motion modes, such as walking, underwater propulsion, climbing and rolling. The degree of freedom of cable-driven 4SPS/U rigid-flexible parallel trunk joint mechanism is calculated by using screw theory. An inverse kinematics model of the mechanism is constructed by using the closed vector method and the decoupling method for eigenstructure assignment. The velocity and acceleration models of the mechanism are derived, and the singularity of the mechanism is analyzed by Jacobian matrix. The theoretically simulated datum of displacement, velocity and acceleration of trunk joint mechanism are calculated through theoretical numerical examples, and the theoretically simulated datum are compared with the simulated results of Adams software, which verifies the correctness of the theoretical model. Key

Key words: trunkjointmechanism, cable-driving, screwtheory, kinematicalmodeling

CLC Number:

TP242.4

PAN Yitao， CHEN Yuan， WANG Lidong， LU Hao. Design and Kinematic Modeling of Cable-driven 4-SPS/U Rigid-flexible Parallel Trunk Joint Mechanism with Spring[J]. Acta Armamentarii, 2019, 40(11): 2352-2362.

References

［1］王忠民. 灾难搜救机器人研究现状与发展趋势[J]. 现代电子技术, 2007, 30(17):152-155.
WANG Z M. Research status and development trend of disaster search and rescue robot[J]. Modern Electronics Technology, 2007, 30(17): 152-155.(in Chinese)
[2］邓乐, 赵莉莉. 煤矿井下搜救机器人越障分析[J].河南理工大学学报(自然科学版), 2011, 30(5):567-570.
DENG L, ZHAO L L. Obstacle surmounting analysis of robot for under-mine rescue[J]. Journal of Henan Polytechnic University (Natural Science), 2011, 30(5): 567-570. (in Chinese)
[3］原鑫, 李擎, 张昊, 等. 蛇形搜救机器人的ORB-SLAM研究[J]. 科学技术与工程, 2016, 16(31):229-233.
YUAN X, LI Q, ZHANG H, et al. ORB-SLAM research of snake-like rescue robot[J]. Science Technology and Engineering, 2016, 16(31): 229-233. (in Chinese)
[4］李志海.轮足混合驱动爬壁机器人及其关键技术的研究[D].哈尔滨:哈尔滨工业大学, 2010.
LI Z H. Study on wheel leg hybrid wall climbing robot and its key technology[D]. Harbin: Harbin Institute of Technology, 2010. (in Chinese)
[5］ KIM Y S, JUNG G P, KIM H, et al. Wheel transformer: a wheel-leg hybrid robot with passive transformable wheels[J]. IEEE Transactions on Robotics, 2017, 30(6):1487-1498.
[6］田慕.轮履复合式搜救机器人移动平台运动学与动力学研究[D]. 焦作:河南理工大学, 2016.
TIAN M. Research on the kinematics and dynamics of wheel-tracked search and rescue robot mobile platform[D]. Jiaozuo: Henan Polytechnic University, 2016. (in Chinese)
[7］ PHIPPS C C, MINOR M A. Introducing the hex-a-ball,a hybrid locomotion terrain adaptive walking and rolling robot[C]∥Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Berlin, Germany: Springer, 2005: 525-532.
[8］ KANEHIRO F, KANEKO K, FUJIWARA K, et al. The first humanoid robot that has the same size as a human and that can lie down and get up[C]∥ Proceedings of the 2003 IEEE International Conference on Robotics and Automation . Taipei, Taiwan, China: IEEE, 2003: 1633-1639.
[9］ OGURA Y, AIKAWA H, SHIMOMURA K, et al.Development of a new humanoid robot WABIAN-2[C]∥Proceedings of the 2006 IEEE International Conference on Robotics and Automation. Orlando, FL,US: IEEE, 2006: 76-81.

[10］ METTA G, SANDINI G, VERNON D, et al.The iCub humanoid robot: an open platform for research in embodied cognition[C]∥Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems. Gaithersburg, MD,US: Association for Computing Machinery , 2008:50-56.
[11］ BEIRA R, LOPES M, PRAGA M, et al. Design of the robot-cub (iCub) head[C]∥Proceedings of the 2006 IEEE International Conference on Robotics and AutomationOrlando, FL,US: IEEE, 2006: 94-100.
[12］张波, 战红春, 赵明扬, 等. 柔索驱动三自由度球面并联机构运动学与静力学[J]. 机器人, 2003, 25(3):198-200.
ZHANG B, ZHAN H C, ZHAO M Y, et al. Kinematics and sta-tics analysis of a 3-DOF sphere parallel wire driven mechanism[J]. Robot, 2003, 25(3): 198-200. (in Chinese)
[13］黄昔光, 何广平, 谭晓兰, 等.并联机器人机构研究现状分析[J]. 北方工业大学学报, 2009, 21(3):25-31.
HUANG X G, HE G P, TAN X L, et al. An introduction to parallel robot mechanism[J]. Journal of North China University of Technology, 2009, 21(3): 25-31. (in Chinese)
[14］崔海, 陈柏. 基于绳索驱动的并联康复机器人研究[J].机械传动, 2014, 38(4): 21-25.
CUI H, CHEN B. Research of parallel rehabilitation robot based on wire drive[J]. Mechanical Transmission, 2014, 38(4): 21-25. (in Chinese)
[15］ BERNHARDT M, FREY M, COLOMBO G, et al. Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT[C]∥Proceedings of the 9th International Conference on Rehabilitation Robotics. Chicago, IL,US: IEEE, 2005: 536-539.
[16］乔文刚, 盛如龙, 乔魏. 三自由度绳驱动并联机器人运动学分析[J]. 机械制造自动化, 2011, 33(2): 124-127.
QIAO W G, SHENG R L, QIAO W. Three-DOF wire-driven parallel robot kinematics analysis[J]. Manufacturing Automation, 2011, 33(2): 124-127. (in Chinese)
[17］乔文刚, 袁亭雪. 3-DOF绳驱动并联机器人运动学建模及空间分析[J]. 机械研究与应用, 2014, 27(2):43-47.
QIAO W G, YUAN T X. Kinematics modeling and work space analysis for three-DOF wire-driven parallel robot[J]. Mechanical Research & Application, 2014, 27(2): 43-47. (in Chinese)
[18］ IBRAHIM K, RAMADAN A, FANNI M, et al. Development of a new 4-DOF endoscopic parallel manipulator based on screw theory for laparoscopic surgery[J]. Mechatronics, 2015, 28: 4-17.
[19］杨启志, 孙梦涛, 马新坡, 等. 上肢康复机器人绳驱动关节的设计与分析[J]. 江苏大学学报(自然科学版), 2018, 39(5): 563-569.
YANG Q Z, SUN M T, MA X P, et al. Design and analysis of rope driven joint for upper limb rehabilitation robot[J]. Journal of Jiangsu University (Natual Science Edition), 2018, 39(5): 563-569. (in Chinese)
[20］王从浩, 张春, 林佳裔, 等. 绳索驱动的仿生关节设计与仿真分析[J]. 机械工程师, 2018(5):13-15.
WANG C H, ZHANG C, LIN J Y, et al. Design and simulation analysis of rope-driven bionic joints[J]. Mechanical Engineer, 2018(5):13-15. (in Chinese)
[21］谢哲东, 贾雨璇, 邵琦, 等. 微型3-PSP并联机构的工作空间及运动学分析[J]. 机械强度, 2018, 40(4): 915-922.
XIE Z D, JIA Y X, SHAO Q, et al. Analysis the working space and kinematics of the micro 3-PSP parallel mechanism[J]. Journal of Mechanical Strength, 2018, 40(4): 915-922. (in Chinese)
[22］李帆. 绳索-弹簧混联机构特性分析[D]. 西安:西安电子科技大学, 2014.
LI F. Analysis of cable-spring hybrid mechanism characteristics[D]. Xi'an: Xidian University, 2014. (in Chinese)
[23］李清桓, 段清娟, 李帆, 等. 绳牵引机器人加入弹簧后刚度分析[J]. 振动与冲击, 2017, 36(10):197-202.
LI Q H, DUAN Q J, LI F, et al. Stiffness analysis of a cable-driven parallel robot by adding springs[J]. Journal of Vibration and Shock, 2017, 36(10): 197-202. (in Chinese)
[24］ TREVISANI A, GALLINA P, WILLIAMS R L. Cable-direct-drive robot (CDDR) with passive SCARA support: theory and simulation[J]. Journal of Intelligent and Robotic Systems, 2006, 46(1): 73-94.
[25］ Von Zitzewitz J, Fehlberg L, Bruckmann T, et al. Use of passively guided deflection units and energy-storing Elements to increase the application range of wire robot[M]∥Cable-Driven Parallel Robots. Berlin, Heidelberg, Germany: Springer, 2013: 167-184.
[26］王中林, 张宁斌. 冗余机构 2URR-2RRU运动学与性能分析[J]. 机电工程, 2018, 35(1):1-9.
WANG Z L, ZHANG N B. Kinematics and performance analysis of redundantly-actuated parallel mechanism 2URR-2RRU[J]. Journal of Mechanical & Electrical Engineering, 2018, 35(1):1-9. (in Chinese)
[27］张海强, 房海蓉. 含恰约束支链的冗余驱动并联机构性能分析[J]. 北京交通大学学报, 2018, 42(1):133-138.
ZHANG H Q, FANG H R, et al. Performance analysis of a redundantly actuated parallel manipulator with suitable constraint branch[J]. Journal of Beijing Jiaotong University, 2018, 42(1): 133-138. (in Chinese)
[28］黄真, 曾达幸. 机构自由度计算:原理和方法[M].北京:高等教育出版社, 2016:1-273.
HUANG Z, ZENG D X. Calculation of freedom of mechanism: principles and methods[M]. Beijing: Higher Education Press, 2016: 1-273. (in Chinese)
[29］刘伟, 马志广, 张顺心, 等. 新型绳驱动混联肘腕康复机器人运动学分析[J]. 河北工业大学学报, 2018, 47(4):6-9.
LIU W, MA Z G, ZHANG S X, et al. Kinematics analysis on the series-parallel mechanism of a novelcable-driven elbow and wrist rehabilitation robot [J]. Journal of Heibei University of Technology, 2018, 47(4):6-9. (in Chinese)

第40卷
第11期2019 年11月兵工学报ACTA
ARMAMENTARIIVol.40No.11Nov.2019

[1]	MA Chunsheng, YIN Xiaoqin, MA Zhendong, MI Wenbo. Axis Self-adaptive Design and Dimensional Synthesis of Knee Joint of Lower Limb Exoskeleton [J]. Acta Armamentarii, 2022, 43(3): 653-660.
[2]	HAN Bo， XU Yundou， YAO Jiantao， ZHENG Dong， LI Yongjie， ZHAO Yongsheng. Kinematic Characteristics and Dynamics Analysis of a Double-ring Truss Deployable Antenna Mechanism [J]. Acta Armamentarii, 2020, 41(4): 810-821.