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

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2024-11-18 DOI:10.1016/j.mechmachtheory.2024.105856

Shucui Zhang , Jiayuan Zhao , Xingang Zhang , Haohao Bi , Wenli Yao , Fanxiu Chen , Haijun Peng , Caishan Liu

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引用次数: 0

Abstract

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.

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考虑非光滑缆孔摩擦的缆索驱动连续机械手准静态建模与实验验证

在缆索驱动连续机械手（CDCM）系统中，非光滑摩擦导致的驱动滞后效应会严重影响运动控制。本文提出了一种考虑非光滑摩擦的 CDCM 准静态模型。在忽略驱动过程中惯性效应的前提下，采用有限元法对主干进行离散，得到主干的节点力矢量。然后，通过考虑摩擦的衰减和非光滑性，得到驱动电缆的节点力矢量，并详细推导出节点力矢量的切线刚度矩阵。随后，还进行了电缆收放实验，得到的滞后环与理论模型一致，从而验证了非光滑模型的有效性。最后，进行了沿空间曲线的轨迹跟踪模拟，研究了滑动摩擦和加载历史对驱动力演变的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry