Transmission Characteristics Analysis and Compensation Control of Double Tendon-sheath Driven Manipulator.

ABSTRACT: The double tendon-sheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and long-distance transmission. We are attempting to apply it to manipulators, wherenon-linear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendon-sheath actuators are offline compensation methods that do not require output feedback, but when the system's motion and configuration changes, it cannot adapt to the drastic changes in the transmission characteristics. Depending on the transmission system, the roboti

SUBMITTER: Wu H 

PROVIDER: S-EPMC7085673 | biostudies-literature | 2020 Feb

REPOSITORIES: biostudies-literature