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A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators
Gao AZ(高安柱); Zou Y(邹运); Wang ZD(王志东); Liu H(刘浩)
作者部门机器人学研究室
发表期刊JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
ISSN1942-4302
2017
卷号9期号:4页码:1-7
收录类别SCI ; EI
EI收录号20172803926009
WOS记录号WOS:000404477900019
产权排序1
资助机构National Natural Science Foundation of China [61473281] ; Natural Science Foundation of Liaoning Province [201602744] ; National Science and Technology Support Program [2015BAI01B13]
摘要Continuum robots present the great dexterity and compliance as dexterous manipulators to accomplish complex positioning tasks in confined anatomy during minimally invasive surgery. Tendon actuation is one of the most popular approaches, which is to insert the tendon to eccentrically go through and interact with the flexible backbone to accomplish compliant bends. However, hysteresis of tip trajectory of tendon actuated dexterous manipulators (TA-DMs) has been observed during the loading and unloading procedure, which is mainly caused by the hindered friction at discrete interactions between the actuation tendon and conduits. This paper aims to propose a general friction model to describe the interactions and friction profile at the multiple discrete contact points for tendon actuated dexterous manipulators under the history-dependent tendon tension. The friction model was integrated into the beam theory to describe the hysteresis and loading history-dependent behavior by solving the profiles of tendon force, normal force, and friction force, as well as the deflection of the dexterous manipulator. Experiments were carried out to validate the effectiveness of the proposed friction model. Results indicate that the friction model can successfully describe the discrete interaction and predict the deflection of dexterous manipulator subject to the different tendon loading histories. Furthermore, the effects of discrete friction to the tendon force propagation and the loading history-dependent behavior are discussed.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Mechanical ; Robotics
关键词[WOS]DRIVEN CONTINUUM ROBOT ; VALIDATION
WOS研究方向Engineering ; Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20803
专题机器人学研究室
通讯作者Liu H(刘浩)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, University of Chinese Academy of Sciences, No. 19, Feiyun Road, Hunnan District, Shenyang, Liaoning, 110179, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 19, Feiyun Road, Hunnan District, Shenyang, Liaoning, 110179, China
3.Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, 275-0016, Japan
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GB/T 7714
Gao AZ,Zou Y,Wang ZD,et al. A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators[J]. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,2017,9(4):1-7.
APA Gao AZ,Zou Y,Wang ZD,&Liu H.(2017).A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators.JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,9(4),1-7.
MLA Gao AZ,et al."A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators".JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 9.4(2017):1-7.
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