首次建立考虑外部载荷的腱驱动滚动接触关节通用接触面运动学模型。
Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms
- 基于递归方程构建腱力与腱位移驱动的运动学求解算法。
- 实验验证了模型在原型机上的配置预测精度，误差可控。
- 适合机器人柔性关节设计与动力学仿真研究者参考。
本文首次建立了考虑外部载荷的腱驱动滚动接触关节机制的运动学模型。通过推导递归方程，提出了高效迭代算法，可同时求解腱力驱动与腱位移驱动下的运动响应。利用原型机构对运动学配置预测进行了实验验证，结果表明模型具有较高准确性。相关MATLAB实现已开源，地址为https://github.com/hjhdog1/RollingJoint。
原文摘要 · Abstract (English)
This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient iterative algorithms to solve for both tendon force actuation and tendon displacement actuation. The configuration predictions of the kinematics were experimentally validated using a prototype mechanism. Our MATLAB implementation of the proposed kinematic is available at https://github.com/hjhdog1/RollingJoint.
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