高空立面条件下绳驱动并联机器人的控制研究

朱银锋; 张成浩; 方继根; 孙文勇

文章摘要

高空立面条件下绳驱动并联机器人的控制研究

Control study of a rope-driven parallel robot under high altitude elevation conditions

投稿时间：2024-12-17 修订日期：2025-02-07

DOI：

中文关键词: 绳驱动并联机器人动力学模型张力优化模糊力/位置混合控制

英文关键词: Cable-driven parallel robots Dynamic model Tension optimization Fuzzy force/position hybrid control

基金项目:国家自然科学基金面上项目(51877001)；安徽省高等学校质量工程项目(2020kfkc168、2020jxtd062)；校级质量工程项目(2020kj12)。

作者	单位	邮编
朱银锋^*	安徽建筑大学机械与电气工程学院	230601
张成浩	安徽建筑大学机械与电气工程学院	230601
方继根	安徽建筑大学机械与电气工程学院	230601
孙文勇	安徽建筑大学机械与电气工程学院	230601

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中文摘要:

随着城市化进程加快和高层建筑增多，高空作业的安全性和效率成为关键问题。传统高空作业方式存在安全隐患和低效问题，为提升高空作业的安全性和效率，提出一种基于绳驱动的并联机器人系统，旨在实现复杂高空环境中的稳定运行和高效作业。首先，利用矢量封闭理论和微分求导法分析运动学逆解，并通过应用Newton-Euler与Lagrange方法，构建系统的动力学模型。基于此模型，提出一种模糊力/位混合控制策略，通过实时监控并调整绳索张力与末端位置，精确控制张力分布，优化系统稳定性和响应速度。仿真结果表明，在外界扰动力和摩擦阻力影响下，模糊力/位置控制器相比传统PID控制器，精度提高了27.7%和28.3%，且具有更强的稳定性。

英文摘要:

As the process of urbanization accelerates and the number of high-rise buildings increases, the safety and efficiency of high-altitude operations have become critical issues. Traditional methods of high-altitude operations are fraught with safety hazards and inefficiencies. To enhance the safety and efficiency of high-altitude operations, a cable-driven parallel robot system has been proposed, aiming to achieve stable operation and efficient work in complex high-altitude environments. Initially, the kinematic inverse solution was analyzed using vector closure theory and differential calculus methods, and the dynamics model of the system was constructed by applying the Newton-Euler and Lagrange methods. Based on this model, a fuzzy force/position hybrid control strategy was proposed. This strategy precisely controls the distribution of cable tensions by real-time monitoring and adjusting the rope tensions and end-effector positions, optimizing the system's stability and response speed. Simulation results indicate that, under the influence of external disturbance forces and frictional resistance, the precision of the fuzzy force/position controller is increased by 27.7% and 28.3% compared to the traditional PID controller, and it exhibits stronger stability.

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