{"title":"腱驱动机器人和连续机器人的摩擦限制末端执行器运动分辨率","authors":"Neel Shihora, Nabil Simaan","doi":"10.1016/j.mechmachtheory.2024.105814","DOIUrl":null,"url":null,"abstract":"<div><div>Force and motion transmission losses can significantly affect the kinematics and performance of wire-actuated robots. In addition to degrading the kinematic model, they can produce hysteresis (dead-zone) effects whereby the motion of the actuators produces no motion of the end effector. This paper presents a modeling framework that can be used at the design stage to evaluate the effects of these transmission losses. Considerations for modeling the dead-zone effects of end-effector motion are used to define a performance measure that quantifies the quality of a given design within a workspace. This design measure should be used in conjunction with the traditional kinematics and statics-based measures to reflect the expected performance of an integrated wire-actuated robot with its actuation lines and actuation unit. To illustrate our approach, we present a model of a wire-actuated snake-like robot with an articulated backbone made up of ball-and-socket joints. The results and methodology reported in this paper can guide the design of wire-actuated robots in selecting wire-parameters and determining their effects on the expected uncertainty, limiting the friction-limited minimal motion resolution of the end effector.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"203 ","pages":"Article 105814"},"PeriodicalIF":4.5000,"publicationDate":"2024-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The friction-limited end-effector motion resolution of tendon-actuated and continuum robots\",\"authors\":\"Neel Shihora, Nabil Simaan\",\"doi\":\"10.1016/j.mechmachtheory.2024.105814\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>Force and motion transmission losses can significantly affect the kinematics and performance of wire-actuated robots. In addition to degrading the kinematic model, they can produce hysteresis (dead-zone) effects whereby the motion of the actuators produces no motion of the end effector. This paper presents a modeling framework that can be used at the design stage to evaluate the effects of these transmission losses. Considerations for modeling the dead-zone effects of end-effector motion are used to define a performance measure that quantifies the quality of a given design within a workspace. This design measure should be used in conjunction with the traditional kinematics and statics-based measures to reflect the expected performance of an integrated wire-actuated robot with its actuation lines and actuation unit. To illustrate our approach, we present a model of a wire-actuated snake-like robot with an articulated backbone made up of ball-and-socket joints. The results and methodology reported in this paper can guide the design of wire-actuated robots in selecting wire-parameters and determining their effects on the expected uncertainty, limiting the friction-limited minimal motion resolution of the end effector.</div></div>\",\"PeriodicalId\":49845,\"journal\":{\"name\":\"Mechanism and Machine Theory\",\"volume\":\"203 \",\"pages\":\"Article 105814\"},\"PeriodicalIF\":4.5000,\"publicationDate\":\"2024-10-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanism and Machine Theory\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0094114X24002416\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X24002416","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
The friction-limited end-effector motion resolution of tendon-actuated and continuum robots
Force and motion transmission losses can significantly affect the kinematics and performance of wire-actuated robots. In addition to degrading the kinematic model, they can produce hysteresis (dead-zone) effects whereby the motion of the actuators produces no motion of the end effector. This paper presents a modeling framework that can be used at the design stage to evaluate the effects of these transmission losses. Considerations for modeling the dead-zone effects of end-effector motion are used to define a performance measure that quantifies the quality of a given design within a workspace. This design measure should be used in conjunction with the traditional kinematics and statics-based measures to reflect the expected performance of an integrated wire-actuated robot with its actuation lines and actuation unit. To illustrate our approach, we present a model of a wire-actuated snake-like robot with an articulated backbone made up of ball-and-socket joints. The results and methodology reported in this paper can guide the design of wire-actuated robots in selecting wire-parameters and determining their effects on the expected uncertainty, limiting the friction-limited minimal motion resolution of the end effector.
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