Design of a weight-compensated and coupled tendon-driven articulated long-reach manipulator
Design of a weight-compensated and coupled tendon-driven articulated long-reach manipulator
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重量补偿耦合腱驱动铰接长臂机械手的设计
DOI：
10.1109/sii.2016.7844064
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Hiroyuki Nabae
中科院分区：
文献类型：
--
作者：
Atsushi Horigome;G. Endo;K. Suzumori;Hiroyuki Nabae
提出了一种重量补偿耦合腱驱动机构，并讨论了其静态控制问题。该机构允许长距离机械手与非常小的致动器，通过应用一个厚肌腱耦合肌腱驱动机构。对张力的静态控制进行了研究，提出了由手臂姿态推导关节控制索和重量补偿索张力的解决方案。此外，肌腱张力的三种类型的建议机构模拟在六个姿势。重量补偿有时需要较大的接头控制索张力，但它基本上将索张力降低到2kN左右。
A weight-compensated and coupled tendon-driven mechanism which is a combination of the existing two mechanisms is proposed and its static control is discussed. This mechanism allows the long-reach manipulator with very small actuators by applying one thick tendon to a coupled tendon-driven mechanism. Static control of tension was investigated and the solution which derives the tension of the joint controlling tendons and the weight-compensating tendon from the arm posture was proposed. Moreover, tendon tension on three types of the proposed mechanism is simulated in six postures. The weight-compensation sometimes requires large tension of the joint controlling tendons, however, it reduces tendons tension under around 2 kN basically.