A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

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	A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators
	Gao AZ(高安柱); Zou Y(邹运); Wang ZD(王志东); Liu H(刘浩)
刊名	JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
	2017
卷号	9 期号:4 页码:1-7
ISSN号	1942-4302
通讯作者	Liu H(刘浩)
产权排序	1
中文摘要	Continuum robots present the great dexterity and compliance as dexterous manipulators to accomplish complex positioning tasks in confined anatomy during minimally invasive surgery. Tendon actuation is one of the most popular approaches, which is to insert the tendon to eccentrically go through and interact with the flexible backbone to accomplish compliant bends. However, hysteresis of tip trajectory of tendon actuated dexterous manipulators (TA-DMs) has been observed during the loading and unloading procedure, which is mainly caused by the hindered friction at discrete interactions between the actuation tendon and conduits. This paper aims to propose a general friction model to describe the interactions and friction profile at the multiple discrete contact points for tendon actuated dexterous manipulators under the history-dependent tendon tension. The friction model was integrated into the beam theory to describe the hysteresis and loading history-dependent behavior by solving the profiles of tendon force, normal force, and friction force, as well as the deflection of the dexterous manipulator. Experiments were carried out to validate the effectiveness of the proposed friction model. Results indicate that the friction model can successfully describe the discrete interaction and predict the deflection of dexterous manipulator subject to the different tendon loading histories. Furthermore, the effects of discrete friction to the tendon force propagation and the loading history-dependent behavior are discussed.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Mechanical ; Robotics
研究领域[WOS]	Engineering ; Robotics
关键词[WOS]	DRIVEN CONTINUUM ROBOT ; VALIDATION
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000404477900019
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20803]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 19, Feiyun Road, Hunnan District, Shenyang, Liaoning, 110179, China 2.Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, 275-0016, Japan 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, University of Chinese Academy of Sciences, No. 19, Feiyun Road, Hunnan District, Shenyang, Liaoning, 110179, China
推荐引用方式 GB/T 7714	Gao AZ,Zou Y,Wang ZD,et al. A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators[J]. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,2017,9(4):1-7.
APA	Gao AZ,Zou Y,Wang ZD,&Liu H.(2017).A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators.JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,9(4),1-7.
MLA	Gao AZ,et al."A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators".JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 9.4(2017):1-7.