通过可重构末端结构拓展缆绳机器人的旋转工作空间
Kinematically Controllable Cable Robots with Reconfigurable End-effectors
- 设计简单结构的可重构末端，用螺旋槽轴与螺母实现线动转转动
- 引入轴承增加自由度，使运动可纯由运动学控制
- 解决多缆干扰问题，适合需要高精度轨迹控制的场景
为扩大缆绳驱动机器人的平移工作空间，通常会增加缆绳数量。但此举带来两个挑战：（1）缆绳干涉显著限制了旋转工作空间；（2）缆绳张力解变得不唯一，导致运动学控制困难。本文设计了结构简单的可重构末端执行器，通过弹簧、螺旋槽轴和匹配螺母，将末端组件间的相对直线运动转化为相对旋转，从而扩展机构的旋转工作空间。同时引入轴承以提供额外的旋转自由度，使机构不再冗余。结果是，机器人运动可仅通过运动学实现控制，无需额外张力感知与调节。
原文摘要 · Abstract (English)
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2) the solution of tensions in cables becomes non-unique, resulting in difficulties for kinematic control of the robot. In this work, we design structurally simple reconfigurable end-effectors for cable robots. By incorporating a spring, a helical-grooved shaft, and a matching nut, relative linear motions between end-effector components are converted into relative rotations, thereby expanding the rotational workspace of the mechanism. Meanwhile, a bearing is introduced to provide an additional rotational degree of freedom, making the mechanism non-redundant. As a result, the robot's motion can be controlled purely through kinematics without additional tension sensing and control.
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