Influence of Antagonistic Tensions on Distributed Friction Forces of Multisegment Tendon-Driven Continuum Manipulators With Irregular Geometry.
Influence of Antagonistic Tensions on Distributed Friction Forces of Multisegment Tendon-Driven Continuum Manipulators With Irregular Geometry.
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DOI：
10.1109/tmech.2021.3112580
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发表时间：
2022-10
影响因子：
6.4
通讯作者：
Alambeigi, Farshid
中科院分区：
文献类型：
--
作者：
Liu, Yang;Yoo, Uksang;Ha, Seungbeom;Atashzar, S. Farokh;Alambeigi, Farshid
关键词：
本文深入分析了单腱和对抗筋激励对不规则几何多节段肌腱驱动连续体机械臂(TD-CMS)张力损失的影响。为此，我们提出了一种通用的解析建模方法和迭代算法，可以解决TD-CMS在拉索和释放阶段的分布摩擦力、拉力传递损失和平面变形行为之间的未知关联。所提出的通用模型仅依赖于已知的输入肌腱的张力，并且不需要对机械手的形状和/或其他实验条件的先验知识。为了研究驱动方式对TD-CMS拉伸损失和变形行为的影响，我们制作了两种不同的TD-CMS，并对单腱和对抗张力驱动进行了各种仿真和实验研究。研究结果表明，考虑摩擦力分布和驱动方式对多节段TD-CMS张力损失(S)的影响具有重要意义。此外，它清楚地证明了所提出的模型在洞察和理解不规则几何多节段TD-CMS中不同类型驱动的张力传递过程方面的有效性和准确性。
In this paper, we thoroughly analyze the effect of single-tendon and antagonistic tendons actuation on tension loss of multi-segment tendon-driven continuum manipulators (TD-CMs) with irregular geometry. To this end, we propose a generic analytical modeling approach and iterative algorithm that can solve the unknown correlation between distributed friction force, tendons’ tension transmission loss, and planar deformation behavior of TD-CMs during tendons’ pulling and releasing phases. The proposed generic model solely relies on known input tendons’ tensions and does not require a priori knowledge of the manipulator’s shape and/or other experimental conditions. To investigate the influence of actuation type on tension loss and deformation behavior of TD-CMs, we fabricated two different TD-CMs and performed various simulation and experimental studies with single-tendon and antagonistic tensions actuations. The obtained results indicate the importance of considering the effect of distributed friction force and actuation type on tension(s) loss of multi-segment TD-CMs. Moreover, it clearly demonstrates the efficacy and accuracy of the proposed model in providing insights and understanding of tension transmission process in various types of actuations in multi-segment TD-CMs with irregular geometry.
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影响因子：
6.4
作者：
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DOI：
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期刊：
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