Abstract
The double tendon-sheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and long-distance transmission. We are attempting to apply it to manipulators, wherenon-linear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendon-sheath actuators are offline compensation methods that do not require output feedback, but when the system’s motion and configuration changes, it cannot adapt to the drastic changes in the transmission characteristics. Depending on the transmission system, the robotic arm, changes at any time during the working process, and the force sensors and torque sensors that cannot be applied to the joints of the robot, so a real-time position compensation control method based on flexible cable deformation is proposed. A double tendon-sheath transmission model is established, a double tendon-sheath torque transmission model under any load condition is derived, and a semi-physical simulation experimental platform composed of a motor, a double tendon-sheath transmission system and a single articulated arm is established to verify the transfer model. Through the signal feedback of the end encoder, a real-time closed-loop feedback system was established, thus that the system can still achieve the output to follow the desired torque trajectory under the external interference.
Highlights
A tendon-sheath is a flexible transmission mechanism composed of an internal flexible cable and an external hollow casing
The reliability of detecting the signal at the end in the real-time is factors into consideration, a systematic method of a single tendon-sheath actuator (TSA) torque estimation based on a position greater than the off-line compensation control method
The requirements of the equipment are different under different working conditions, such as multi-joint manipulators, as the parameters of each joint part may be different, the analysis of multi-joint manipulators, as the parameters of each joint part may be different, the analysis of the the transmission characteristics of the tendon-sheath drive system is helpful to the development of transmission characteristics of the tendon-sheath drive system is helpful to the development of the the robot
Summary
A tendon-sheath is a flexible transmission mechanism composed of an internal flexible cable and an external hollow casing. The offline compensation method does not require output feedback and is suitable for systems where sensors cannot be installed remotely, the system cannot cope with the drastic changes in transmission characteristics when the system’s pretension and tendon-sheath configuration change during operation, thereby limiting the tracking control performance. The reliability of detecting the signal at the driven by the double tendon-sheath, the configuration of the tendon-sheath transmission system can end in the real-time is greater than the off-line compensation control method. The reliability of detecting the signal at the end in the real-time is factors into consideration, a systematic method of a single TSA torque estimation based on a position greater than the off-line compensation control method Taking all of these factors into consideration, a transfer model is proposed. Environment changes, the output torque can still follow the desired torque trajectory
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
