搭建通用线缆测试机，提升绳驱动机器人精度
A Universal Wire Testing Machine for Enhancing the Performance of Wire-Driven Robots
- 设计可测线缆特性的通用测试装置
- 实测8种直径滑轮的传力效率及动态特性
- 用实测数据改进机器人力控，降低末端误差
与齿轮和连杆相比，绳索具有重量轻、摩擦小的优点。但因绳索为柔性材料，易引入较大建模误差，限制其在工业和科研机器人中的应用。本研究构建了一台通用线缆测试机，可测量并调整线缆特性，以提升绳驱动机构性能。利用该测试机，完成了初始拉伸消除、8种不同直径被动滑轮的张力传输效率测量，以及变长线缆的动态行为分析。最后将测试所得数据应用于实际绳驱动机器人的力控中，有效降低了末端执行器的力误差。
原文摘要 · Abstract (English)
Compared with gears and linkages, wires constitute a lightweight, low-friction transmission mechanism. However, because wires are flexible materials, they tend to introduce large modeling errors, and their adoption in industrial and research robots remains limited.In this study, we built a Universal Wire Testing Machine that enables measurement and adjustment of wire characteristics to improve the performance of wire-driven mechanisms. Using this testing machine, we carried out removal of initial wire stretch, measurement of tension transmission efficiency for eight different diameters of passive pulleys, and measurement of the dynamic behavior of variable-length wires. Finally, we applied the data obtained from this testing machine to the force control of an actual wire-driven robot, reducing the end-effector force error.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。