引用本文: 王启申, 李继婷. 手康复机器人钢丝绳-绳套传动系统中的摩擦补偿[J]. 机器人, 2014, 36(1): 1-7.
WANG Qishen, LI Jiting. Friction Compensation in Cable-Conduit Transmission System of Hand Rehabilitation Robot[J]. ROBOT, 2014, 36(1): 1-7.
 Citation: WANG Qishen, LI Jiting. Friction Compensation in Cable-Conduit Transmission System of Hand Rehabilitation Robot[J]. ROBOT, 2014, 36(1): 1-7.

## Friction Compensation in Cable-Conduit Transmission System of Hand Rehabilitation Robot

• 摘要: 在手康复机器人的钢丝绳-绳套传动系统中，钢丝绳与绳套之间的摩擦力会引起力控制过程中的动力损失，产生传动死区、滞后等现象，并且带 来系统不稳定等问题，因此需要补偿摩擦力．首先推导了手指任意姿态下，钢丝绳中张力的计算公式．然后，1个手指关节上的传动模式简化如 下：电动机1以位置控制模式运转，模拟关节运动；电动机2以转矩控制模式运转，补偿钢丝绳上的摩擦力．每根钢丝绳穿过绳套，绳端固定在电动机1 和电动机2的输出轮上，钢丝绳两端张力之差即是摩擦力．将摩擦力转化为补偿电动机轴的等效摩擦力矩，补偿电动机以转矩控制模式运转，输出与等 效摩擦力矩方向相反的转矩．假设时间间隔足够小、手指运动缓慢，利用t-1时刻的张力计算得到t时刻的等效摩擦力矩．用此迭代方法计算 出不同时刻补偿电动机需要输出的补偿力矩，对钢丝绳-绳套中的摩擦力进行补偿．最后在实验平台上进行了主动康复模式实验，实验结果表明，补偿后的阻力只有补偿前的15%，该补偿方法有效．

Abstract: In cable-conduit transmission system of hand rehabilitation robot, friction between cable and conduit can cause power loss in force control process, sometimes results in dead zone and hysteresis phenomena, even brings other problems such as system instability. Thus, it is needed to compensate the friction. Firstly, the tension in cable is formulated when finger bending in arbitrary shape. Then, the transmission mode of a finger joint is simplified as follows: motor 1 runs in position control mode to simulate the motion of the joint. Motor 2 runs in torque control mode to compensate the friction in cable. Each cable passes through a conduit and the ends of cable are fastened on output pulleys attached to each of the motors. The tension difference between both ends of cable is the friction in cable and conduit. Friction is transformed into equivalent friction torque of motor 2 shaft. The compensation motor runs in the torque control mode, and the direction of its output torque is opposite to the equivalent friction torque. Assuming that time interval is small enough and finger moves slowly, equivalent friction torque at t moment can be calculated by tensions at t-1 moment. Using this iterative method, compensation torque at different moments that motor 2 should output can be obtained to compensate friction in cable and conduit. Finally, an active rehabilitation experiment is carried out on an experiment setup, and the result shows the resistance reduces to 15% after compensation, which means the method is effective.

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