论文标题
横向外科肌腱驱动的铰接式机器人单元的准静态分析
Quasi-Static Analysis on Transoral Surgical Tendon-Driven Articulated Robot Units
论文作者
论文摘要
肌腱驱动的连续机器人中的电线致动可以从远处传输力，但是据了解，当使用皮带轮以推拉扣模式降压两根电缆时，可能会出现张力控制问题。本文分析了准静态平衡中旋转角，压力以及单个连续单元的变量之间的关系。准静态分析的主要目标是鉴于施加了紧张局势，分析是输出压力和分析。建立了静态平衡条件，并为旋转角度执行了二分解方法。一分配方法的功能考虑了压力诱导的力，摩擦力和重量。 θ为17.14°，当TL和TS的值分别为1 n和2 n时，P为405.6 pa。结果似乎与初步设计规范一致，要求进行进一步的模拟和实验。
Wire actuation in tendon-driven continuum robots enables the transmission of force from a distance, but it is understood that tension control problems can arise when a pulley is used to actuate two cables in a push-pull mode. This paper analyzes the relationship between angle of rotation, pressure, as well as variables of a single continuum unit in a quasi-static equilibrium. The primary objective of the quasi-static analysis was to output pressure and the analysis, given the tensions applied. Static equilibrium condition was established, and the bisection method was carried out for the angle of rotation. The function for the bisection method considered pressure-induced forces, friction forces, and weight. θ was 17.14°, and p was 405.6 Pa when Tl and Ts were given the values of 1 N and 2 N, respectively. The results seemed to be consistent with the preliminary design specification, calling for further simulations and experiments.
