基于移动补偿的绳驱动关节运动解耦方法

doi:10.13973/j.cnki.robot.210069

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贺磊盈, 陈建国, 吴天次, 杨亮亮. 基于移动补偿的绳驱动关节运动解耦方法[J]. 机器人, 2022, 44(2): 195-202.DOI: 10.13973/j.cnki.robot.210069. HE Leiying, CHEN Jianguo, WU Tianci, YANG Liangliang. A Motion Decoupling Method for Cable-driven Joint Based on Movement Compensation. ROBOT, 2022, 44(2): 195-202. DOI: 10.13973/j.cnki.robot.210069.

摘要提出了一种通过移动补偿解决绳驱动关节运动耦合的方法。首先，根据运动耦合的机理推导出解耦的约束条件，并相应地设计了一种2自由度绳驱动机械臂；然后，为分析绳索的弹性形变对解耦效果的影响，应用绞盘方程建立了绳索拉力对关节转角偏移影响的理论模型；最后，开展了相应的试验。试验结果显示当关节不受外力矩时，其最大角度偏移量为0.72°；关节上施加一定力矩后，基于上述模型得到的关节转角偏移量同试验值的差异小于0.02°。此外，关节转角偏移量随着预紧力的增大而减小，且关节的动态解耦性能良好。以上结果验证了提出的解耦方法的有效性和关节转角偏移模型的准确性。

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关键词 ：绳驱动, 运动解耦, 弹性形变, 关节转角偏移

Abstract：A method is presented to solve the motion coupling of cable-driven joints through movement compensation.Firstly,the constraint conditions for decoupling are deduced according to the principle of motion coupling,and a 2-DOF (degree-of-freedom) cable-driven manipulator is designed correspondingly.To analyze the influence of elastic deformation of the cable on the effectiveness of decoupling,a theoretical model of the relationship between the cable tension and the joint angle offset is established by applying the capstan equation.Finally,some corresponding experiments are carried out.Results show that the maximum angular offset of the joint is 0.72° when no external torque is loaded on the joint,and the difference between the calculated angular offset and the experimental one is less than 0.02° when a certain torque is loaded on the joint.In addition,the angular offset of the joint decreases with the increase of the preload,and the dynamic decoupling performance of the joint is still good.Therefore,the effectiveness of the proposed decoupling method and the accuracy of the joint angle offset model are verified.

Key words： cable-driven motion decoupling elastic deformation joint angle offset

收稿日期: 2021-02-09 录用日期: 2021-06-07

TP242

基金资助:国家自然科学基金（51675488）；财政部和农业农村部：国家现代农业产业技术体系（CARS-19）

通讯作者: 贺磊盈，hlying@zstu.edu.cn E-mail: hlying@zstu.edu.cn

作者简介: 贺磊盈(1983 -),男,博士,副教授。研究领域:机器人机构学,机器人视觉技术。陈建国(1995 -),男,硕士生。研究领域:绳驱动机械臂的结构设计。

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.210069 或 https://robot.sia.cn/CN/Y2022/V44/I2/195

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