Design,Modeling,and Validation of a Tendon-driven Series Elastic Actuator Based on Magnetic Position Sensing  

作　　者：Di Zhao Xinbo Wang Fanbo Wei Lei Ren Kunyang Wang Luquan Ren 

机构地区：[1]Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University,Changchun,130022,China [2]Institute of Structured and Architected Materials,Liaoning Academy of Materials,Shenyang,110167,China

出　　处：《Journal of Bionic Engineering》2025年第1期195-213,共19页仿生工程学报(英文版)

基　　金：supported in part by the National Key R&D Program of China under Grant 2024YFB4707900;the National Natural Science Foundation of China under Grant 91948302 and Grant 52021003.

摘　　要：Tendon-driven robots have distinct advantages in high-dynamic performance motion and high-degree-of-freedom manipulation.However,these robots face challenges related to control complexity,intricate tendon drive paths,and tendon slackness.In this study,the authors present a novel modular tendon-driven actuator design that integrates a series elastic element.The actuator incorporates a unique magnetic position sensing technology that enables observation of the length and tension of the tendon and features an exceptionally compact design.The modular architecture of the tendon-driven actuator addresses the complexity of tendon drive paths,while the tension observation functionality mitigates slackness issues.The design and modeling of the actuator are described in this paper,and a series of tests are conducted to validate the simulation model and to test the performance of the proposed actuator.The model can be used for training robot control neural networks based on simulation,thereby overcoming the challenges associated with controlling tendon-driven robots.

关 键 词：Tendon-driven robots Tendon-driven actuator Magnetic position sensing Tension control Series elastic actuator 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]