TY - JOUR
AU1 - Wang, Haozhe
AU2 - Li, Xiaopeng
AU3 - Yin, Meng
AU4 - Zhao, Zixu
AU5 - Liu, Bingfei
AB - Tendon-sheath actuation is widely used for driving manipulators due to its lightweight design, flexibility, and long-distance transmission capability. However, dead zones and nonlinear effects in the tendon-sheath transmission process significantly impact precise control. Furthermore, manipulators’ unique structure and workspace constraints pose challenges for sensor installation, complicating the accurate acquisition of essential information and thus affecting control accuracy. This study investigates a rigid-flexible coupled manipulator actuated by a tendon-sheath system, analyzing the influence of tendon-sheath arrangement on manipulator stiffness under the constant curvature assumption. Based on static theory, the actuation system is modeled as a single tendon-sheath system, allowing an analysis of the relationship between tension and displacement transmission characteristics. A normalized Bouc-Wen model is employed to characterize the nonlinear hysteresis behavior induced by time-delayed displacement errors, effectively addressing the asymmetric response observed during loading and unloading processes. By integrating the Bouc-Wen model with an adaptive control strategy, precise control of the manipulator’s terminal displacement is achieved. Ground control experiments validate the effectiveness of this approach in enhancing control accuracy.
TI - Dead zone compensation of tendon-sheath actuated rigid-flexible manipulator based on adaptive Bouc-Wen model
JF - Journal of the Brazilian Society of Mechanical Sciences and Engineering
DO - 10.1007/s40430-025-05594-x
DA - 2025-06-01
UR - https://www.deepdyve.com/lp/springer-journals/dead-zone-compensation-of-tendon-sheath-actuated-rigid-flexible-EOwRGwgZWs
VL - 47
IS - 6
DP - DeepDyve
ER -