Purpose

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/approach

The 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.

Findings

The 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/value

The 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.

中文翻译：

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预紧力对腱驱动机械手阻尼的影响

目的

本文的目的是研究腱驱动机械手的预紧力范围以及预紧力与阻尼之间的关系。具有关节柔性的柔性关节机械手（FJM）比传统的刚性机械手更安全。具有弹性肌腱的FJM被称为弹性肌腱驱动机械手（ETDM），其优点是由电缆驱动，关节更灵活。然而，弹性筋引入了更大的残余振动，这使得机械手的控制更加困难。精确的动态建模可以有效地解决这个问题。

设计/方法/方法

本文通过对缆索和滑轮受力的分析，推导出ETDM 的预紧力与摩擦力矩之间的关系。建立了以库仑阻尼为主的动力学模型。

发现

通过力学分析和实验验证了系统阻尼力矩减小与ETDM预紧力增大之间的线性关系，并得到了曲线。本研究为ETDM预紧力的选择提供参考。

原创性/价值

提出了通过减振实验识别ETDM阻尼的方法，有助于获得更准确的系统动力学模型，实现ETDM的精确控制和残余振动抑制。