套索传动特性建模分析  

Modeling of Transmission Characteristics for a Tendon-sheath Actuation System

作　　者：奚如如[1] 王兴松[1] 鲁婧[1] 盛陈[1] 

机构地区：[1]东南大学机械工程学院,南京211189

出　　处：《机械工程学报》2012年第17期38-44,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50875044)

摘　　要：绳索的柔性与套索接触面间摩擦力使套索传动呈非线性,为实现套索精密传动,建立空间任意曲线状套索力和位移传动特性的静态模型和动态模型。结合LuGre动态摩擦模型进行动态模型仿真分析,搭建套索传动特性研究试验台,试验结果与静态模型分析及动态模型仿真结果吻合。结果表明:套索力和位移输入输出关系中的死区、迟滞、方向依赖性等非线性特性与套索接触面间摩擦因数、套索曲线全曲率及绳索等效弹性系数有关,与曲线挠率、全曲率半径、传动速度无关。针对套索传动特性的研究,对狭小空间作业套索驱动机器人末端执行器力位协调控制及精确抓取物体具有重要指导意义。Tendon flexibility and friction force between contact surfaces lead to tendon-sheath transmission characteristics nonlinear.To realize the precision control,the static and dynamic models of transmission characteristics about the spatial arbitrary shape tendon-sheath actuation system are established,and the LuGre friction model is applied in dynamic model simulation.To validate the static theoretical analysis and dynamic simulation results,the testing table is developed,and the experimental results coincide with them.The results indicate that nonlinear phenomena such as dead zone,hysteresis and directional dependence present in the force-displacement transmission characteristics are relative to friction coefficient between contact surfaces,total curvature and tendon elasticity coefficient,but have nothing to do with torsion,total curvature radius and transmission speed.Studies with the nonlinear transmission characteristics have significance reference to the force-displacement coordination control and object accurate grasping of tendon-sheath actuated robots working under narrow space.

关 键 词：套索传动特性 非线性 建模分析 动态摩擦模型 

分 类 号：TH39[机械工程—机械制造及自动化] TH132