Fei Liu, Jinda Luo, Jixue Mo, Changqing Gao, Zhendong Song
{"title":"电缆驱动机械手的刚柔耦合动力学建模与分析","authors":"Fei Liu, Jinda Luo, Jixue Mo, Changqing Gao, Zhendong Song","doi":"10.1007/s12206-024-0733-5","DOIUrl":null,"url":null,"abstract":"<p>Cable-driven manipulators find applications in medical care, housekeeping services, and various other scenarios. However, the flexible joints of cable-driven manipulators exhibit rigid-flexible coupling characteristics, posing challenges for their modeling and accurate control. In this paper, a cable-driven serial-parallel manipulator is analyzed, and the rigidflexible coupling characteristics and dynamic modeling of its flexible joints are studied. Based on the coupling problem between joint flexibility deformation and end motion of the manipulator, a rigid-flexible coupling dynamics model was established. Through derivation of the coupling matrix, the coupling factor was defined to characterize the influence of flexible joint deformation on end motion of the manipulator. Finally, the dynamics coupling factor was simulated, and the influence of the joint cable-wheel reduction ratio and the end load on rigid-flexible characteristics of the manipulator was revealed, which lays a theoretical basis for the accurate control of cable-driven manipulators.</p>","PeriodicalId":16235,"journal":{"name":"Journal of Mechanical Science and Technology","volume":"54 1","pages":""},"PeriodicalIF":1.5000,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Modeling and analysis of rigid-flexible coupling dynamics of a cable-driven manipulator\",\"authors\":\"Fei Liu, Jinda Luo, Jixue Mo, Changqing Gao, Zhendong Song\",\"doi\":\"10.1007/s12206-024-0733-5\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>Cable-driven manipulators find applications in medical care, housekeeping services, and various other scenarios. However, the flexible joints of cable-driven manipulators exhibit rigid-flexible coupling characteristics, posing challenges for their modeling and accurate control. In this paper, a cable-driven serial-parallel manipulator is analyzed, and the rigidflexible coupling characteristics and dynamic modeling of its flexible joints are studied. Based on the coupling problem between joint flexibility deformation and end motion of the manipulator, a rigid-flexible coupling dynamics model was established. Through derivation of the coupling matrix, the coupling factor was defined to characterize the influence of flexible joint deformation on end motion of the manipulator. Finally, the dynamics coupling factor was simulated, and the influence of the joint cable-wheel reduction ratio and the end load on rigid-flexible characteristics of the manipulator was revealed, which lays a theoretical basis for the accurate control of cable-driven manipulators.</p>\",\"PeriodicalId\":16235,\"journal\":{\"name\":\"Journal of Mechanical Science and Technology\",\"volume\":\"54 1\",\"pages\":\"\"},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2024-08-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Mechanical Science and Technology\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1007/s12206-024-0733-5\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanical Science and Technology","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s12206-024-0733-5","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
Modeling and analysis of rigid-flexible coupling dynamics of a cable-driven manipulator
Cable-driven manipulators find applications in medical care, housekeeping services, and various other scenarios. However, the flexible joints of cable-driven manipulators exhibit rigid-flexible coupling characteristics, posing challenges for their modeling and accurate control. In this paper, a cable-driven serial-parallel manipulator is analyzed, and the rigidflexible coupling characteristics and dynamic modeling of its flexible joints are studied. Based on the coupling problem between joint flexibility deformation and end motion of the manipulator, a rigid-flexible coupling dynamics model was established. Through derivation of the coupling matrix, the coupling factor was defined to characterize the influence of flexible joint deformation on end motion of the manipulator. Finally, the dynamics coupling factor was simulated, and the influence of the joint cable-wheel reduction ratio and the end load on rigid-flexible characteristics of the manipulator was revealed, which lays a theoretical basis for the accurate control of cable-driven manipulators.
期刊介绍：
The aim of the Journal of Mechanical Science and Technology is to provide an international forum for the publication and dissemination of original work that contributes to the understanding of the main and related disciplines of mechanical engineering, either empirical or theoretical. The Journal covers the whole spectrum of mechanical engineering, which includes, but is not limited to, Materials and Design Engineering, Production Engineering and Fusion Technology, Dynamics, Vibration and Control, Thermal Engineering and Fluids Engineering.
Manuscripts may fall into several categories including full articles, solicited reviews or commentary, and unsolicited reviews or commentary related to the core of mechanical engineering.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
