Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist

Gui Heli; Wang Zhaodong; Cao Yi

doi:10.16578/j.issn.1004.2539.2020.06.023

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Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist

Test·Analysis | 更新时间：2022-10-20

- Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist
- Journal of Mechanical Transmission Vol. 44, Issue 6, Pages: 134-141(2020)
- 作者机构：
  
  1.无锡科技职业学院，江苏无锡 214151
  2.江南大学机械工程学院，江苏无锡 214122
  3.江苏省食品先进制造装备技术重点实验室，江苏无锡 214122
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.06.023
  CLC：
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桂和利,王兆东,曹毅.绳驱动仿腕关节的绳索拉力分布和动力学分析[J].机械传动,2020,44(06):134-141.

Gui Heli,Wang Zhaodong,Cao Yi.Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist[J].Journal of Mechanical Transmission,2020,44(06):134-141.
桂和利,王兆东,曹毅.绳驱动仿腕关节的绳索拉力分布和动力学分析[J].机械传动,2020,44(06):134-141. DOI： 10.16578/j.issn.1004.2539.2020.06.023.

Gui Heli,Wang Zhaodong,Cao Yi.Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist[J].Journal of Mechanical Transmission,2020,44(06):134-141. DOI： 10.16578/j.issn.1004.2539.2020.06.023.

摘要

为模拟人臂腕关节的结构功能，提出了有别于传统仿生关节的3自由度绳驱动并联结构，即动平台与静平台通过一球副连接实现腕关节的转动功能。绳索的引入给机构带来建模和控制上的难度。首先，忽略绳索重力特性，采用Lagrange法建立其标准动力学方程。同时，考虑绳驱动的冗余特性和绳索的单向受力性，提出了绳张力分布优化模型，通过遗传算法得到了绳拉力分布。其次，针对腕关节存在的绳索质量对机构的影响，建立了考虑绳质量的悬链线动力学模型。最后，对两种模型进行仿真，并对比了仿真结果。

Abstract

In order to simulate the structure and function of human arm and wrist joint, a 3-DOF(degree-of-freedom) cable-driven humanoid wrist is put forward, which is different from the traditional bionic joint, its function is achieved by a ball joint which connects the moving base platform and the base. However, the introduction of cables increases the difficulty in modeling and control. Firstly, ignoring the gravity property of the cable, the standard dynamics equation of the humanoid-wrist joint is built by using Lagrange method. At the same time, taking into account the redundant actuation and single-direction force for the cables, the cable tension distribution optimization model is established, and the cable tension distribution is obtained by genetic algorithm. Secondly, aiming at the influence of the cable mass, a more accurate dynamics model is established by considering catenary. Finally, the two models are simulated and the simulation results are compared.

关键词

绳驱动刚柔耦合拉力优化动力学悬链线

Keywords

Cable-drivenRigid-flexible couplingTension optimizationDynamicsCatenary

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