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上肢康复机器人绳驱动关节的设计与分析
Alternative TitleDesign and analysis of rope driven joint for upper limb rehabilitation robot
杨启志1; 孙梦涛1; 马新坡1; 蔡静1; 赵新刚2
Department机器人学研究室
Source Publication江苏大学学报(自然科学版)
ISSN1671-7775
2018
Volume39Issue:5Pages:563-569
Indexed ByCSCD
CSCD IDCSCD:6374534
Contribution Rank2
Funding Organization国家自然科学基金资助项目(51675239) ; 江苏省自然科学基金资助项目(BK20161344) ; 江苏省六大人才高峰项目(ZBZZ-022)
Keyword上肢康复机器人 绳传动系统 钢丝绳 摩擦力补偿法 试验
Abstract针对绳驱动存在的弹性易滑动、误差易累积等问题,提出了一种"钢丝绳+齿形带"的广义驱动方式,将电动机加齿轮、减速器代表的传统刚性动力传递转化为柔性传递.计算得出了钢丝绳拉力大小;运用摩擦力补偿法分析钢丝绳与绳外软管之间的摩擦因数,得出钢丝绳摩擦力与负载的关系.将同一根钢丝绳与绳套的组合进行不同弯曲度的试验;改变钢丝绳在软管中的长度,并于末端施加负载;在固定板上安装钢丝绳,测量拉力及摩擦力的大小进而确定钢丝绳型号.应用ADAMS对绳驱动关节的钢丝绳进行仿真分析.结果表明:弯曲程度对钢丝绳摩擦力影响可忽略;钢丝绳摩擦力与其长度、负载大小都成正比;仿真验证了理论分析正确性.试验得到绳最大紧边压力为8 N,实际摩擦力7.6 N;钢丝绳选用304不锈钢,直径定为1.5 mm,最大承重25 kg.
Other AbstractTo solve the problems of easy slippage by elasticity and easy accumulation of errors in rope driving,a generalized driving method of " rope + toothed belt" was proposed to convert the traditional rigid power transmission of motor plus gear and reducer into flexible transmission. The pull force of wire rope was calculated,and the friction coefficient between wire rope and outer hose was analyzed by the friction compensation method to obtain the relationship between friction force of steel wire rope and load. The combination of the same steel wire rope and the rope jacket was tested for different bending degrees. The length of steel wire rope in the hose was changed,and the load was applied at the end. The steel wire rope was installed on the fixing plate,and the size of wire rope was determined by measuring the pulling force and the friction force. The ADAMS was used to simulate the wire ropes of rope-driven joints. The results show that the influence of bending degree on the friction force of steel wire rope is negligible,and the friction force of steel wire rope is proportional to the length and load. The correctness of the theoretical analysis is verified by the simulation. The maximum tight edge pressure of rope is 8 N, and the actual friction force is 7.6 N. The 304 stainless steel is adopted for wire rope with the diameter of 1.5 mm and the maximum load of 25 kg.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23351
Collection机器人学研究室
Corresponding Author杨启志
Affiliation1.江苏大学农业装备工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
Recommended Citation
GB/T 7714
杨启志,孙梦涛,马新坡,等. 上肢康复机器人绳驱动关节的设计与分析[J]. 江苏大学学报(自然科学版),2018,39(5):563-569.
APA 杨启志,孙梦涛,马新坡,蔡静,&赵新刚.(2018).上肢康复机器人绳驱动关节的设计与分析.江苏大学学报(自然科学版),39(5),563-569.
MLA 杨启志,et al."上肢康复机器人绳驱动关节的设计与分析".江苏大学学报(自然科学版) 39.5(2018):563-569.
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