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The effect of preload force on damping in tendon-driven manipulator

The effect of preload force on damping in tendon-driven manipulator The purpose of this paper is to study the preload range of tendon-driven manipulator and the relationship between preload and damping. The flexible joint manipulator (FJM) with joint flexibility is safer than traditional rigid manipulators. A FJM having an elastic tendon is called an elastic tendon-driven manipulator (ETDM) and has the advantages of being driven by a cable and having a more flexible joint. However, the elastic tendon introduces greater residual vibration, which makes the control of the manipulator more difficult. Accurate dynamic modeling is effective in solving this problem.Design/methodology/approachThe present paper derives the relationship between the preload of the ETDM and the friction moment through the analysis of the forces of cables and pulleys. A dynamic model dominated by Coulomb damping is established.FindingsThe linear relationship between a decrease in the damping moment of the system and an increase in the ETDM preload is verified by mechanics analysis and experiment, and a curve of the relationship is obtained. This study provides a reference for the selection of ETDM preload.Originality/valueThe method to identify ETDM damping by vibration attenuation experiments is proposed, which is helpful to obtain a more accurate dynamic model of the system and to achieve accurate control and residual vibration suppression of ETDM. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: The International Journal of Robotics Research and Application Emerald Publishing

The effect of preload force on damping in tendon-driven manipulator

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Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0143-991X
DOI
10.1108/ir-10-2020-0232
Publisher site
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Abstract

The purpose of this paper is to study the preload range of tendon-driven manipulator and the relationship between preload and damping. The flexible joint manipulator (FJM) with joint flexibility is safer than traditional rigid manipulators. A FJM having an elastic tendon is called an elastic tendon-driven manipulator (ETDM) and has the advantages of being driven by a cable and having a more flexible joint. However, the elastic tendon introduces greater residual vibration, which makes the control of the manipulator more difficult. Accurate dynamic modeling is effective in solving this problem.Design/methodology/approachThe present paper derives the relationship between the preload of the ETDM and the friction moment through the analysis of the forces of cables and pulleys. A dynamic model dominated by Coulomb damping is established.FindingsThe linear relationship between a decrease in the damping moment of the system and an increase in the ETDM preload is verified by mechanics analysis and experiment, and a curve of the relationship is obtained. This study provides a reference for the selection of ETDM preload.Originality/valueThe method to identify ETDM damping by vibration attenuation experiments is proposed, which is helpful to obtain a more accurate dynamic model of the system and to achieve accurate control and residual vibration suppression of ETDM.

Journal

Industrial Robot: The International Journal of Robotics Research and Application – Emerald Publishing

Published: Aug 3, 2021

Keywords: Robotics; Cable-driven manipulator; Elastic tendon-driven manipulator; Flexible joint manipulator; Identification of damping; Preload force

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