Motion decoupling for cable-driven serial robots based on a noncircular pulley
Motion decoupling for cable-driven serial robots based on a noncircular pulley
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DOI：
10.1109/aim46323.2023.10196257
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发表时间：
2023-06
期刊：
影响因子：
--
通讯作者：
Jinsai Cheng;Tao Shen
中科院分区：
文献类型：
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作者：
Jinsai Cheng;Tao Shen
电缆驱动的系列机器人由于其体积小、惯性小的特点而获得了显著的发展。然而，电缆驱动系列机器人的一个主要问题是运动耦合问题，即一个关节的运动将引起其他关节的运动，从而导致复杂的控制。本文提出了一种利用非圆滑轮解耦关节运动的新方法。由于耦合问题，联合滑轮上驱动索的长度变化由非圆滑轮补偿。介绍了滑轮轮廓的计算过程、解耦系统的机械设计和缆索驱动机器人样机的控制系统。通过实验对运动解耦方法的性能进行了评价。结果表明，非圆皮带轮可以解决运动耦合问题，使索长几乎保持不变，误差很小。
Cable-driven serial robots have gained significant growth because of their compact size and low inertia characteristics. However, one major problem of cable-driven serial robots is motion coupling issue that one joint motion will cause movement of the other joints, resulting in a complicated control. In this paper, we proposed a novel method to decouple the joint motion by using a noncircular pulley. The length change of driving cables on a joint pulley due to the coupling issue is compensated by the noncircular pulley. The calculation process of the pulley profile, the mechanical design of the decoupling system, and control system of the cable-driven robot prototype are introduced. Experiments have been conducted to evaluate the performance of the motion decoupling method. The results demonstrate that the noncircular pulley can solve the motion coupling issue by keeping the cable length nearly constant with small errors.