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首页> 外文会议>DSC-vol.73-2; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition pt.B; 20041113-19; Anaheim,CA(US) >WIRE DEACTIVATION METHODOLOGY FOR INVERSE DYNAMICS OF WIRE-ACTUATED REDUNDANT MANIPULATORS
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WIRE DEACTIVATION METHODOLOGY FOR INVERSE DYNAMICS OF WIRE-ACTUATED REDUNDANT MANIPULATORS

机译：线驱动冗余操纵器逆动力学的线钝化方法

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摘要

Wire-actuated robot manipulators are generally lighter than other manipulators as actuated wires are used instead of joint actuators. The inverse dynamic modeling of these manipulators is complicated by the existence of multiple kinematic constraints as well as redundancy in actuation. In wire-actuated parallel manipulators with a constraining linkage and in tendon-driven serial manipulators, wires are used to control the joints. In these manipulators, each wire can provide a torque/force on a link about/along its revolute/prismatic passive joint in one direction, as wires only act in tension. Using one wire for each link sometimes does not fully constrain the motion of the link about/along its passive joint. Therefore, a second wire is attached to some links in a "counterbalance" configuration; i.e., the second wire can provide a "complementary" torque/force in the opposite direction of the torque/force produced by the first wire on the link about/along its passive joint. Depending on the end effector trajectory and external force at each instant, one of the mentioned two wires provides the desired direction of torque/force and the other, "counteracting wire", imposes a "counteracting" torque/force on the link about/along its passive joint. Using more actuators than degrees of freedom (DOF) in the manipulator causes redundancy in actuation, which means that for a unique end effector trajectory and external force, inverse dynamic results (actuator torques/forces) have infinite solutions within a null space of actuator torques/forces. Obtaining a unique result within the null space requires several considerations, such as avoiding negative tensions in wires and decreasing the actuator torques/forces. The purpose of this article is to find a methodology to limit the infinite inverse dynamic solutions to one while the negative wire tensions are avoided and actuator torques/forces are relatively decreased. As explained in this article, by reducing the counteracting wire tensions, other actuator torques/forces are decreased, because a portion of other actuator torques/forces neutralizes the tensions of counteracting wires. A methodology is developed to detect the counteracting wires in real-time and to preset the corresponding tensions to a low positive value; i.e., the counteracting wires are "deactivated". The proposed methodology can be implemented in the inverse dynamic modeling of wire-actuated parallel manipulators with a constraining linkage and tendon-driven serial manipulators via using the Lagrangian method. This methodology can be used to provide optimum actuator torques/forces and avoid negative tensions in actuated wires. The methodology is implemented in the inverse dynamic modeling of a 4-DOF wire-actuated manipulator where there is one degree of actuation redundancy. In the simulation results, the inverse dynamic model based on the proposed methodology is observed to be quite robust in terms of avoiding negative wire tensions by deactivating the right actuated wire.
机译：钢丝操纵的机器人操纵器通常比其他操纵器轻，因为使用了操纵钢丝代替了关节致动器。这些操纵器的逆动力学建模由于存在多个运动学约束以及致动冗余而变得复杂。在具有约束连杆的线驱动并联机械手和在腱驱动的串联机械手中，线用于控制关节。在这些操纵器中，由于金属丝仅在拉力作用下，每根金属丝可以在绕其旋转/棱柱形被动接头的一个方向上/沿着其旋转/棱柱形被动关节在连杆上提供扭矩/力。有时，对每个链接使用一根导线并不能完全约束链接绕着其被动关节的运动。因此，第二根线以“平衡”配置连接到某些链接。也就是说，第二金属丝可以在第一金属丝在其被动接头周围/沿着其被动接头的方向上，在与第一金属丝产生的扭矩/力相反的方向上提供“互补”的扭矩/力。取决于端部执行器的轨迹和每个瞬间的外力，上述两根导线中的一根可提供所需的扭矩/力方向，另一根“反作用丝”可在/周围的连杆上施加“反作用”扭矩/力。它的被动关节。在操纵器中使用比自由度（DOF）多的执行器会导致操纵冗余，这意味着对于唯一的末端执行器轨迹和外力，逆动态结果（执行器扭矩/力）在执行器扭矩的零空间内具有无限的解。 /势力。要在零空间内获得独特的结果，需要进行一些考虑，例如，避免导线中产生负张力并减小执行器扭矩/力。本文的目的是找到一种方法，将无限的逆动态解决方案限制为一个，同时避免负的钢丝张力和相对减小致动器扭矩/力。如本文所述，通过减小反作用丝张力，其他致动器扭矩/力减小，因为其他致动器扭矩/力的一部分抵消了反作用丝的张力。开发了一种方法来实时检测反作用金属丝并将预设的张力预设为较低的正值；即，抵消线“被停用”。所提出的方法可以通过拉格朗日方法在带有约束连杆的线驱动并联机械手和由腱驱动的串联机械手的逆动力学建模中实现。该方法可用于提供最佳的执行器扭矩/力，并避免被驱动的导线产生负张力。该方法是在4-DOF线控机械手的逆动态建模中实现的，该机械手具有一级冗余度。在仿真结果中，观察到基于所提出的方法的逆动力学模型在通过激活右侧驱动线避免负线张力方面非常强大。

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