CN-118254178-B - Calculation method of driving rope of snake-shaped robot based on statics analysis

CN118254178BCN 118254178 BCN118254178 BCN 118254178BCN-118254178-B

Abstract

The invention discloses a calculation method of a snake-shaped robot driving rope based on statics analysis, wherein snake-shaped robot joints move under the driving of the rope, and the joints are relatively rotated and mutually coupled to affect so as to achieve a preset working pose. The algorithm performs front-end traversal on kinematics to obtain joint pose information of the snake-shaped robot and a conversion matrix of adjacent joints, and analyzes joint stress by rear-end traversal, so that the stress of the driving rope is optimized by a nonlinear optimization method, the maximum value of the stress of three driving ropes directly acting on the connecting rod is ensured to reach the minimum value on the premise of meeting the motion of the snake-shaped robot, the minimum value of the stress of the three driving ropes is ensured to meet the pretightening force required by the connecting rod, and the mechanical property of the driving rope is improved by a method of reducing the maximum value. And finally, obtaining the optimal stress condition of all driving ropes of the snake-shaped robot under the static condition through the result of rear-end traversal.

Inventors

JIANG CHAO
YANG TINGGUI
WAN DETAO
HU DEAN
LIAO ZHIZHONG

Assignees

湖南大学
中核四0四有限公司

Dates

Publication Date: 20260512
Application Date: 20240417

Claims (10)

1. A method of calculating a serpentine robotic drive rope based on statics analysis, the method comprising: Obtaining a known quantity of the statics problem to be solved and a model input quantity obtained by dephysitizing the known quantity; The method comprises the steps of constructing a statics model of the snake-shaped robot according to geometric information, constructing a friction force solution model of a driving rope, constructing the statics model of the snake-shaped robot according to the geometric information, constructing the friction model of the snake-shaped robot according to the statics model, constructing the friction model of the snake-shaped robot according to mass parameters and mass center position parameters in the statics model and calculating driving rope included angle data at joints by statics, and constructing the friction model of the snake-shaped robot, wherein the friction model comprises the following steps: Obtaining driving rope included angle information at a statics calculation joint according to driving rope stress information solved by kinematic parameters in the statics model and geometric chamfering information of the snake-shaped robot; and (3) adopting a nonlinear optimization method to restrict the maximum stress of the driving rope in the statics model, so as to obtain the output quantity of the model, namely the stress condition of the driving rope.
2. The computing method according to claim 1, wherein the constraining the maximum stress of the driving rope in the statics model by using the nonlinear optimization method to obtain the output quantity of the model, namely, the stress condition of the driving rope, includes: moment data information obtained by statics and data information of pretightening force required by driving the rope; And carrying out nonlinear optimization processing on a driving rope stress balance equation in the statics model according to the data information to obtain stress information of the driving rope after model optimization.
3. The computing method according to claim 2, wherein the data information performs nonlinear optimization processing on the driving rope stress balance equation in the statics model to obtain stress information of the driving rope after model optimization, and the method includes: Substituting the data information into the statics model to obtain an updated statics model; And processing the updated statics model by adopting a nonlinear optimization algorithm to obtain the stress information of the driving rope after model optimization.
4. The computing method of claim 1, wherein the statics model of the serpentine robot comprises: Determining a mass parameter and a mass center position parameter according to the geometric information; Generating a centroid parameter item of the snake-shaped robot according to the mass parameter and the centroid position parameter, wherein the centroid parameter item is used for describing the balance state of each connecting rod in the snake-shaped robot; and constructing the statics model according to the centroid parameter item and a centroid kinematics equation.
5. The computing method according to claim 2, wherein the constraining the maximum stress of the driving rope in the statics model by using the nonlinear optimization method to obtain the output quantity of the model, namely, the stress condition of the driving rope, includes: And the mass parameter and the mass center position parameter which are determined according to the geometric information, and the data information are used for describing the balance state of each connecting rod in the snake-shaped robot so as to construct a statics model.
6. A computing method according to any one of claims 1 to 3, wherein the method comprises a kinematic model of a serpentine robot, determining geometric information of the serpentine robot, comprising: determining a transformation matrix between adjacent links of the serpentine robot; And constructing a kinematic model of the snake-shaped robot according to the transformation matrix.
7. The computing method of claim 6, wherein constructing a kinematic model of the serpentine robot from the transformation matrix comprises: And constructing the kinematic model according to the transformation matrix and the pose transformation equation of the snake-shaped robot.
8. A computing device for a driving rope of a snake-shaped robot based on statics analysis, applied to the computing method of claim 1, characterized in that the device is applied to a computing statics solving system, and a nonlinear optimization algorithm is used for solving a model of the snake-shaped robot statics, and the device comprises: the acquisition module is used for acquiring a known quantity of the statics problem to be solved and a model input quantity obtained by dephysitizing the known quantity; the construction module is used for constructing a serpentine robot statics model and a friction force solving model of the driving rope according to the geometric information; And the solving module is used for restraining the maximum stress of the driving rope in the statics model by adopting a nonlinear optimization method to obtain the output quantity of the model, namely the stress condition of the driving rope.
9. A computer device, characterized in that it comprises a processor and a memory in which at least one program code is stored, which program code is loaded and executed by the processor to implement the method of calculating a driving rope for a serpentine robot based on a statics analysis according to any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that at least one program code is stored in the computer readable storage medium, which program code is loaded and executed by a processor to implement the method of calculating a serpentine robotic drive rope based on statics analysis according to any one of claims 1 to 7.

Description

Calculation method of driving rope of snake-shaped robot based on statics analysis Technical Field The invention relates to the field of statics optimization design, in particular to a calculation method of a driving rope of a snake-shaped robot based on statics analysis. Background The snake-shaped robot is a multi-joint high-redundancy robot which can work in a narrow space environment. Along with the rotation of the snake-shaped robot joint, a driving rope penetrating through a turntable of the mechanical arm can generate huge friction force, the friction force can become huge due to the increase of a rotation angle, irreversible damage is generated to the driving rope, and when the damage reaches a certain value, the driving rope is broken, so that the whole mechanical structure is seriously damaged, and safety accidents are caused. So from the viewpoint of equipment safety, the analysis of the mechanical problem of the serpentine arm is not negligible. For the snake-shaped robot, the forward and reverse kinematics are more studied, and the relative mechanical researches are weaker, and because the stress of the driving rope is a nonlinear constraint problem, the stress of the driving rope cannot be directly solved through a specific formula, and at the moment, the stress optimization result of the driving rope can be obtained according to the constraint condition by adopting a nonlinear optimization algorithm, so that the reliability of the snake-shaped robot is improved. Disclosure of Invention The embodiment of the application provides a calculation method of a driving rope of a snake-shaped robot based on statics analysis, which adopts a nonlinear optimization method to restrict the maximum stress of the driving rope in a statics model, so as to obtain the output quantity of the model, namely the stress condition of the driving rope. The technical scheme is as follows: According to one aspect of the present application, there is provided a method of calculating a driving rope for a snake-shaped robot based on statics analysis, the method comprising: Obtaining a known quantity of the statics problem to be solved and a model input quantity obtained by dephysitizing the known quantity; Constructing a serpentine robot statics model and a friction force of a driving rope according to the geometric information to solve the model; and (3) adopting a nonlinear optimization method to restrict the maximum stress of the driving rope in the statics model, so as to obtain the output quantity of the model, namely the stress condition of the driving rope. According to one aspect of the present application, there is provided a computing device for a serpentine robotic drive rope based on statics analysis, the device comprising: The acquisition module is used for acquiring the known quantity of the statics problem to be solved and the model input quantity obtained by dephysitizing the known quantity. The construction module is used for constructing a serpentine robot statics model and a friction force solving model of the driving rope according to the geometric information; And the solving module is used for restraining the maximum stress of the driving rope in the statics model by adopting a nonlinear optimization method to obtain the output quantity of the model, namely the stress condition of the driving rope. According to an aspect of the present application, there is provided a computing device for driving ropes of a snake-shaped robot based on statics analysis, applied to a computing statics solving system, the nonlinear optimization algorithm statics solving a model of the snake-shaped robot, the device comprising: the acquisition module is used for acquiring a known quantity of the statics problem to be solved and a model input quantity obtained by dephysitizing the known quantity; the construction module is used for constructing a serpentine robot statics model and a friction force solving model of the driving rope according to the geometric information; And the solving module is used for restraining the maximum stress of the driving rope in the statics model by adopting a nonlinear optimization method to obtain the output quantity of the model, namely the stress condition of the driving rope. According to an aspect of the present application, there is provided a computer device comprising a processor and a memory, the memory storing at least one program code, the program code being loaded by the processor and executing the method of statics optimization calculation of a robot as described above. According to an aspect of the present application, there is provided a computer readable storage medium having stored therein at least one program code loaded and executed by a processor to implement a method of statics optimized computation of a serpentine robot as described above. The technical scheme provided by the embodiment of the application has the beneficial effects that at least: The stress of the driving