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套索传动机械臂传动特性分析与补偿控制
Alternative TitleTransmission Characteristics Analysis and Compensation Control of Tendon-sheath Transmission Manipulator
吴浩廷1,2,4; 尹猛1,2,3; 徐志刚1,2; 韩伟1,2,4; 赵志亮1,2,4
Department智能产线与系统研究室
Source Publication组合机床与自动化加工技术
ISSN1001-2265
2020
Issue10Pages:80-84
Contribution Rank1
Keyword套索传动 机器人 摩擦补偿 轨迹跟踪
Abstract

套索传动机构具有简单、灵活和适用于远距离力矩传递的特点,在传动过程中套管与柔索接触面间的摩擦力会导致系统产生间隙、迟滞和死区等现象,是套索传动机构应用的难题。因此,以库仑摩擦模型建立了套索的力传递和位移传递模型,搭建了单套索传动系统实验平台,实验表明套索传动特性受摩擦因数和全曲率影响较大。提出了在无输出端反馈情况下的摩擦补偿算法,实验表明经过补偿后位置跟踪误差与力跟踪误差明显减小。

Other Abstract

The tendon-sheath transmission mechanism is simple,flexible and suitable for long-distance torque transmission. The friction between the sleeve and the flexible cable contact surface during transmission will cause the system to produce gaps,hysteresis and dead zones. It is a tendon-sheath transmission application Puzzle. Therefore,the Coulomb friction model is used to establish the force transmission and displacement transmission model of the tendon-sheath,and an experimental platform for the single tendonsheath transmission system is established. The experiments show that the transmission characteristics are greatly affected by the friction factor and the full curvature. A friction compensation algorithm without output feedback is proposed. Experiments show that the position tracking error and force tracking error are significantly reduced after compensation.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27768
Collection智能产线与系统研究室
Corresponding Author吴浩廷
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
4.东北大学机械工程与自动化学院
Recommended Citation
GB/T 7714
吴浩廷,尹猛,徐志刚,等. 套索传动机械臂传动特性分析与补偿控制[J]. 组合机床与自动化加工技术,2020(10):80-84.
APA 吴浩廷,尹猛,徐志刚,韩伟,&赵志亮.(2020).套索传动机械臂传动特性分析与补偿控制.组合机床与自动化加工技术(10),80-84.
MLA 吴浩廷,et al."套索传动机械臂传动特性分析与补偿控制".组合机床与自动化加工技术 .10(2020):80-84.
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