双套索系统力矩传动特性与摩擦补偿分析  

Torque Transmission Characteristics and Friction Compensation for a Tendon-sheath Actuation System in Pull-pull Configuration

作　　者：吴青聪 王兴松[1] 杜峰坡[1] 陈林[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》2015年第5期22-29,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51175078);中央高校基本科研业务费专项资金(CXZZ13_0085);东南大学优秀博士学位论文培育基金(YBJJ1427)资助项目

摘　　要：双套索驱动系统因其简单、灵巧以及远距传动的特点被广泛应用于手术机器人以及搜救机器人设计中。由于套索接触面间的摩擦力以及绳索的柔性所产生的非线性特性是这类机器人控制的主要难题。针对现有双套索传动模型只适用于弹性负载,具有明显的局限性的问题,推导任意负载条件下的双套索力矩传动模型。建立双套索传动特性试验平台,通过试验对力矩传动模型进行验证,并讨论双套索力矩传动效率的影响因素。分析系统松弛现象并计算避免松弛所需的最小预紧力。基于力矩传动模型设计一种无末端反馈的摩擦补偿控制器,使系统的输出能跟随期望的力矩轨迹,并通过试验验证该方案的有效性。针对力矩传动特性的研究,为双套索传动机器人的力矩控制提供了理论基础。Tendon-sheath actuation system in pull-pull configuration is widely used in surgical and search/rescue robots, because it can provide a kind of simple yet dexterous remote transmission. The undesirable nonlinear characteristics arising from the friction between contact surfaces and the tendon compliance are the major obstacles for robot control. Considering the limitation that the existing tendon-sheath transmission model is only applicable to elastic load, the torque transmission model under any load conditions is proposed. An experimental setup is established to verify the torque transmission characteristics and discuss the influence factors of torque transfer efficiency. The looseness phenomenon of the system is analyzed in order to calculate the required minimum preload. A friction torque compensation controller without distal-end feedback is designed to ensure that the output of the system can effectively track the expected torque trajectory, and the effectiveness of the scheme is validated by experiments. Thus, studies on the torque transmission characteristics have provided theoretical bases for the torque control of the tendon-sheath actuated robots.

关 键 词：双套索系统 力矩传动模型 传动效率 最小预紧力 摩擦补偿 

分 类 号：TH39[机械工程—机械制造及自动化] TH132