Quasi-static modeling of a cable-driven continuum manipulator considering non-smooth cable-hole friction and experimental verification

被引：0

作者：

Zhang, Shucui ^{[1
]}

Zhao, Jiayuan ^{[1
]}

Zhang, Xingang ^{[1
]}

Bi, Haohao ^{[1
]}

Yao, Wenli ^{[1
]}

Chen, Fanxiu ^{[1
]}

Peng, Haijun ^{[2
]}

Liu, Caishan ^{[3
]}

机构：

[1] Qingdao Univ Technol, Sch Sci, Qingdao 266520, Peoples R China

[2] Dalian Univ Technol, Dept Engn Mech, State Key Lab Struct Anal Optimizat & CAE Software, Dalian 116024, Peoples R China

[3] Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2024年 / 204卷

基金：

中国国家自然科学基金;

关键词：

Cable-driven continuum manipulator (CDCM); quasi-static model; hysteresis; non-smooth; trajectory tracking; ROBOTS; KINEMATICS;

D O I：

10.1016/j.mechmachtheory.2024.105856

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In cable-driven continuum manipulator (CDCM) systems, the driving hysteresis effect due to non- smooth friction significantly affects motion control. In this paper, a quasi-static model of a CDCM considering non-smooth friction is proposed. The finite element method is used to discretize the backbone, neglecting the inertial effect in the driving process, and the nodal force vector for the backbone is obtained. Then, by considering the attenuation and non-smoothness of friction, the nodal force vector for the driving cables is obtained, and the tangent stiffness matrix of the nodal force vector is derived in detail. Subsequently, cable reeling/unreeling experiments were also conducted, and the hysteresis loops obtained were consistent with the theoretical model, thus verifying the validity of the non-smooth model. Finally, trajectory tracking simulations along spatial curves are conducted, and the influence of sliding friction and loading history on the evolution of driving force is studied.

引用

页数：32