一种丝鞘机构的长距离摩擦损失分析

Long-distance Friction Loss Analysis of a Filament Sheath Mechanism

针对丝鞘机构中严重的非线性摩擦力损失与非线性弹性伸长,提出了一种考虑速度影响的丝鞘机构新型摩擦模型,并进行了摩擦参数辨识工作。此外,对不同驱动速度下的摩擦模型进行了仿真分析。结果表明,所提出的摩擦与伸长模型可以补偿长距离丝鞘传动带来的传动损失,提高连续体操作臂的运动准确性。

To resolve serious nonlinear friction loss and nonlinear elastic elongation in a filament sheath mechanism,this paper proposes a new friction model of the filament sheath mechanism considering the effect of speed,and the friction parameter identification work is carried out.In addition,the friction model is simulated for different driving speeds,and the results show that the proposed friction and elongation model can compensate the transmission loss caused by long-distance filament sheath transmission and improve the motion accuracy of the continuum operator arm.