Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces
文献类型：期刊论文
| 作者 | Gaofeng Li; Dezhen Song; Lei Sun; Shan Xu; Hongpeng Wang; Jingtai Liu |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2021 |
| 卷号 | 8期号:11页码:1817-1826 |
| 关键词 | Deformable link parameters identification spherical joint with preload force static force-based model |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2019.1911549 |
| 英文摘要 | To balance the contradiction between higher flexibility and heavier load bearing capacity, we present a novel deformable manipulator which is composed of active rigid joints and deformable links. The deformable link is composed of passive spherical joints with preload forces between socket-ball surfaces. To estimate the load bearing capacity of a deformable link, we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable link. This yields an important result that the load bearing capacity of a spherical joint only depends on its radius, preload force, and static friction coefficient. We further develop a parameter estimation method to estimate the product of preload force and static friction coefficient. The experimental results validate our model. 80.4% of percentage errors on the maximum payload mass prediction are below 15%. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45393]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Gaofeng Li,Dezhen Song,Lei Sun,et al. Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(11):1817-1826. |
| APA | Gaofeng Li,Dezhen Song,Lei Sun,Shan Xu,Hongpeng Wang,&Jingtai Liu.(2021).Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces.IEEE/CAA Journal of Automatica Sinica,8(11),1817-1826. |
| MLA | Gaofeng Li,et al."Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces".IEEE/CAA Journal of Automatica Sinica 8.11(2021):1817-1826. |
入库方式： OAI收割
来源：自动化研究所
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