Kinematic solution of coupled deformation flexible cable

被引：0

作者：

Jia, Longfei ^{[1
]}

Lv, Bohan ^{[1
]}

Guo, Yajing ^{[1
]}

Zhang, Junning ^{[1
]}

Ii, Pengfei ^{[1
]}

机构：

[1] Beijing Inst Precis Mechatron & Controls, Lab Aerosp Servo Actuat & Transmiss, Beijing 100076, Peoples R China

来源：

PROCEEDINGS OF 2023 9TH INTERNATIONAL CONFERENCE ON ROBOTICS AND ARTIFICIAL INTELLIGENCE, ICRAI 2023 | 2023年

关键词：

Cable-driven; Coupling; Kinematic; Flexible cable;

D O I：

10.1145/3637843.3637851

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, the mapping relationship between the joint deflection angle and the coupling drive cable is analyzed, and a method for solving the coupling deformation kinematics of the flexible cable is proposed. By considering the factors related to the length of the cable, such as the position of the driving cable, the size of the joint, the angle of the joint deflection and the total length of the driving cable, a more perfect kinematics solution method is constructed. On the basis of constructing the model, the key point coordinates are obtained, the theoretical length of the single joint flexible cable is solved, and the theoretical total length of the coupled flexible cable is solved. By analyzing the theoretical total length of the cable and the deformation of the cable, the two lengths of the driving cable and the angle of the driving motor are finally solved.

引用

页码：61 / 67

页数：7

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