Abstract
To evaluate the friction and wear characteristics of hip joint prosthesis biomaterials, a hip joint simulator with a 3SPS + 1PS (P: prismatic joint, S: spherical joint) spatial parallel manipulator as the core module is proposed. To improve the control performance of the parallel hip joint simulator, a friction compensation control method is proposed. First, with the help of Lagrange’s Equations, the dynamic model of the parallel hip joint simulator is established, and a Coulomb + viscous friction model is adopted to describe the friction of the hip joint and the thrust ball bearing. Second, identification experiments are conduced, and parameters of the friction model are estimated. Third, a friction compensation controller is obtained based on computed torque control method, and the friction is served as the feed-forward compensation. As can be observed from the experiment results, the tracking accuracy of the parallel hip joint simulator is improved with the friction compensation.
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