联动装置(软件)
机制(生物学)
传输(电信)
计算机科学
机构设计
顺应机制
工程类
模拟
结构工程
有限元法
电信
物理
量子力学
基因
经济
微观经济学
生物化学
化学
作者
Junxiang Li,Wenfu Xu,Wenshuo Li,Lei Yan,Bin Liang
出处
期刊:IEEE robotics and automation letters
日期:2024-01-01
卷期号:9 (1): 25-32
标识
DOI:10.1109/lra.2023.3330049
摘要
Cable-driven segmented manipulators (CDSM) have high dexterity and large bending characteristics with less motors, which have great potential for long-range manipulation in structured environment. However, as joints' number and segments' length increase, the synchronous performance will largely decrease due to friction and deformation. This letter presents a composite linkage mechanism for CDSM to improve the synchronous accuracy and increase the transmission distance. The design concept is first introduced based on the analysis of the traditional design. Then, composite linkage mechanism is proposed to overcome the shortcomings of single linkage mechanism. It is composed of short linkage mechanisms and long linkage mechanisms, where the former and the latter are respectively used to constrain adjacent and non-adjacent joints. Subsequently, four types of linkage mechanisms are designed in details. Furthermore, the construction rules of linkage mechanisms are also established, and a typical design example is provided. Finally, a prototype is developed and typical experiments are conducted. The experiments results show that compared with traditional design, the developed composite linkage mechanism can significantly improve the synchronous accuracy and increase the effective transmission distance
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