Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm
文献类型：期刊论文
| 作者 | Yang, Kaisheng; Yang, Guilin; Zhang, Chi; Chen, Chinyin; Zheng, Tianjiang; Cui, Yuguo; Chen, Tehuan |
| 刊名 | APPLIED SCIENCES-BASEL
 |
| 出版日期 | 2020 |
| 卷号 | 10期号:24 |
| 关键词 | MOTION CONTROL OPTIMIZATION SYSTEM |
| 英文摘要 | Inspired by the structure of human arms, a modular cable-driven human-like robotic arm (CHRA) is developed for safe human-robot interaction. Due to the unilateral driving properties of the cables, the CHRA is redundantly actuated and its stiffness can be adjusted by regulating the cable tensions. Since the trajectory of the 3-DOF joint module (3DJM) of the CHRA is a curve on Lie group SO(3), an enhanced stiffness model of the 3DJM is established by the covariant derivative of the load to the displacement on SO(3). In this paper, we focus on analyzing the how cable tension distribution problem oriented the enhanced stiffness of the 3DJM of the CHRA for stiffness adjustment. Due to the complexity of the enhanced stiffness model, it is difficult to solve the cable tensions from the desired stiffness analytically. The problem of stiffness-oriented cable tension distribution (SCTD) is formulated as a nonlinear optimization model. The optimization model is simplified using the symmetry of the enhanced stiffness model, the rank of the Jacobian matrix and the equilibrium equation of the 3DJM. Since the objective function is too complicated to compute the gradient, a method based on the genetic algorithm is proposed for solving this optimization problem, which only utilizes the objective function values. A comprehensive simulation is carried out to validate the effectiveness of the proposed method. |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/22401]  |
| 专题 | 中国科学院宁波材料技术与工程研究所 2020专题_期刊论文 2021专题_期刊论文 |
| 作者单位 | 1.Yang, KS (corresponding author), Ningbo Univ, Sch Mech Engn & Mech, Ningbo 315211, Peoples R China. 2.Yang, KS 3.Yang, GL (corresponding author), Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Zhejiang Key Lab Robot & Intelligent Mfg Equipmen, Ningbo 315201, Peoples R China. 4.Yang, KS (corresponding author), Zhejiang Marine Dev Res Inst, Zhoushan 316021, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Yang, Kaisheng,Yang, Guilin,Zhang, Chi,et al. Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm[J]. APPLIED SCIENCES-BASEL,2020,10(24). |
| APA | Yang, Kaisheng.,Yang, Guilin.,Zhang, Chi.,Chen, Chinyin.,Zheng, Tianjiang.,...&Chen, Tehuan.(2020).Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm.APPLIED SCIENCES-BASEL,10(24). |
| MLA | Yang, Kaisheng,et al."Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm".APPLIED SCIENCES-BASEL 10.24(2020). |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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