Research On Multi Joint Servo Driving Technology Of Snake Driven Arm Based On Rope Drive

The six-degree-of-freedom joint-type industrial robot is the most widely used in modern automated routine production and assembly processes.However,due to the limitations of the articulation of the six-joint industrial robot,its flexibility is not high and the space for movement is relatively limited.Therefore,six-joint robots are not suitable for use in narrow or complex working environments.However,the serpentine arm is a highly flexible multi-degree-of-freedom robot that can transfer payloads to tight spaces.Therefore,the serpentine robot can exert its unique advantages and functions in many fields.It can enter the environment that human maintenance workers have difficulty entering or can not enter,bypass obstacles,and accurately reach the desired position.It is very suitable for confined and Work in hazardous areas.For example,searching in the earthquake ruins of natural disasters,entering the internal cleaning and maintenance of aeroengines,and performing maintenance work in narrow pipelines,etc.Therefore,research on snake arms is an important topic and it is of great significance.This topic is based on the rope-driven serpentine arm servo drive technology research.For the study of serpentine arms,serpentine arms are divided into continuous and discrete types at home and abroad.In the drive mode,the main use of line-driven,pneumatic muscle and the use of memory alloy drive.In this topic,a continuous line-driven robot is selected.The structural design of the line-driven serpentine arm,the theoretical analysis of the serpentine arm joint dynamics,and the key technologies of the serpentine arm multi-joint servo system are studied.By establishing a dynamic model of the snake arm joint,the torque of the drive line is analyzed.And establish the vector control model of the drive motor,analyze the control algorithm of the servo drive system and carry out matlab simulation,then carry out hardware and software design,and finally build the serpentine arm system.This paper briefly analyzes the control theory of the driving motor used in the serpentine arm,introduces the vector control principle,establishes the mathematical model of the permanent magnet synchronous motor,etc.,and makes preliminary preparations for the research of the servo control algorithm.After comparing and analyzing different driving methods,articulation forms and different driving ropes of the serpentine arm,a three-dimensional structural model of the serpentine arm was established.The dynamic analysis of the serpentine arm was completed,and the dynamic model of the serpentine arm joint was established.By analyzing the driving force of a single driving rope and the driving force of three ropes at the same time,the relationship between the driving force of the rope and the posture angle was determined and established.The compensation model of the driving rope under the influence of gravity.And the paper completes the matlab simulation of the servo drive system,through the simulation of the traditional servo control system and the servo control system based on the synovial observer,comparing the advantages and disadvantages of the two,and finally choose the servo control system based on the sliding diaphragm observer.In the construction of the serpentine arm system,the hardware design and software design of the servo drive system were performed,and the processing and manufacturing of the serpentine arm parts and the procurement were completed.Finally,the assembly and system integration of the whole robot was completed,and the trajectory tracking experiment was performed.