套索传动机械臂传动特性分析与补偿控制  

Transmission Characteristics Analysis and Compensation Control of Tendon-sheath Transmission Manipulator

作　　者：吴浩廷 尹猛[1,2,3] 徐志刚 韩伟[1,2,4] 赵志亮 WU Hao-ting;YIN Meng;XU Zhi-gang;HAN Wei;ZHAO Zhi-liang(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169 [3]中国科学院大学,北京100049 [4]东北大学机械工程与自动化学院,沈阳110006

出　　处：《组合机床与自动化加工技术》2020年第10期80-84,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：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。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 tendon-sheath 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.

关 键 词：套索传动 机器人 摩擦补偿 轨迹跟踪 

分 类 号：TH132[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]