Elongation Modeling and Compensation for the Flexible Tendon-Sheath System
Elongation Modeling and Compensation for the Flexible Tendon-Sheath System
复制标题
DOI：
10.1109/tmech.2013.2278613
复制
发表时间：
2014-08-01
影响因子：
6.4
通讯作者：
Phee, Soo Jay
中科院分区：
文献类型：
--
作者：
Sun, Zhenglong;Wang, Zheng;Phee, Soo Jay
在钢筋束驱动系统中，钢筋束的伸长将导致系统位置控制的不准确。这对于外科手术机器人等应用来说是一个严峻的挑战，这些应用需要具有灵活甚至随时间变化的配置的腱鞘系统，但由于空间限制，在远端缺乏相应的感觉反馈。在本文中，我们奋进解决这个问题，通过建模的肌腱伸长柔性腱鞘系统。针对实际情况下的灵活性，我们首先推导出一个模型，描述了与任意路线配置的总肌腱伸长和输入张力之间的关系。结果表明，在路线配置的变化将显着影响肌腱伸长。我们还提出了一种补救措施，以提高系统的容忍度，对潜在的未建模的扰动沿着在操作过程中的传输路线。引入比例因子S作为确定比例效应的设计准则。设计并建立了一个能够测量两端张力和整体肌腱伸长的专用平台，以验证新发现。讨论了所提出的模型和补救措施的性能和未来的实施。
In tendon-driven systems, the elongation of the tendon would result in inaccuracy in the position control of the system. This becomes a critical challenge for those applications, such as surgical robots, which require the tendon-sheath system with flexible and even time-varying configurations but lack of corresponding sensory feedback at the distal end due to spatial restrictions. In this paper, we endeavor to address this problem by modeling the tendon elongation in a flexible tendon-sheath system. Targeting at flexibility in practical scenarios, we first derived a model describing the relationship between the overall tendon elongation and the input tension with arbitrary route configurations. It is shown that changes in the route configuration would significantly affect the tendon elongation. We also proposed a remedy to enhance the system tolerance against potential unmodeled perturbations along the transmission route during operation. A scaling factor S was introduced as a design guideline to determine the scaling effect. A dedicated platform that was able to measure the tensions at both ends and the overall tendon elongation was designed and set up to validate the new findings. Discussions were made on the performance and the future implementation of the proposed models and remedy.