Modeling and analysis of rigid-flexible coupling dynamics of a cable-driven manipulator

IF 1.5 4区工程技术 Q3 ENGINEERING, MECHANICAL Journal of Mechanical Science and Technology Pub Date : 2024-08-03 DOI:10.1007/s12206-024-0733-5

Fei Liu, Jinda Luo, Jixue Mo, Changqing Gao, Zhendong Song

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Abstract

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.

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电缆驱动机械手的刚柔耦合动力学建模与分析

缆索驱动机械手可应用于医疗保健、家政服务和其他各种场合。然而，缆索驱动机械手的柔性关节具有刚柔耦合特性，这给其建模和精确控制带来了挑战。本文分析了一种电缆驱动的串并联机械手，并研究了其柔性关节的刚柔耦合特性和动态建模。基于关节柔性变形与机械手末端运动之间的耦合问题，建立了刚柔耦合动力学模型。通过推导耦合矩阵，定义了耦合系数，以表征柔性关节变形对机械手末端运动的影响。最后，对动力学耦合因子进行了仿真，揭示了关节缆轮减速比和末端载荷对机械手刚柔特性的影响，为精确控制缆索驱动机械手奠定了理论基础。

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来源期刊

Journal of Mechanical Science and Technology 工程技术-工程：机械

CiteScore

2.90

自引率

6.20%

发文量

517

审稿时长

7.7 months

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.