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

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-10-23 DOI:10.1016/j.mechmachtheory.2024.105814
Neel Shihora, Nabil Simaan
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引用次数: 0

摘要

力和运动传输损耗会严重影响线控机器人的运动学和性能。除了降低运动学模型的性能外,它们还会产生滞后(死区)效应,即执行器的运动不会产生末端效应器的运动。本文介绍了一种建模框架,可在设计阶段用于评估这些传输损耗的影响。建模末端执行器运动死区效应的考虑因素被用来定义一种性能指标,以量化工作空间内给定设计的质量。该设计衡量标准应与传统的运动学和静力学衡量标准结合使用,以反映集成线控机器人及其执行线和执行单元的预期性能。为了说明我们的方法,我们展示了一个线控蛇形机器人模型,该机器人的骨干由球窝关节组成。本文所报告的结果和方法可以指导线控机器人的设计,选择线参数并确定其对预期不确定性的影响,从而限制末端效应器的摩擦极限最小运动分辨率。
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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.
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来源期刊
Mechanism and Machine Theory
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
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