绳驱连续型机器人准静态建模与路径跟踪研究

张轲; 张树翠; 赵佳源; 张欣刚; 姚文莉; 王贵飞

doi:10.21656/1000-0887.460093

绳驱连续型机器人准静态建模与路径跟踪研究

doi: 10.21656/1000-0887.460093

张轲^1,2, ,,
张树翠^1, ,,
赵佳源¹,
张欣刚¹,
姚文莉¹,
王贵飞¹

1. 青岛理工大学理学院，山东青岛 266525;
2. 中通客车股份有限公司，山东聊城 252000

基金项目:

12272197）；山东省自然科学基金（ZR2022MA066

ZR2025MS76

国家自然科学基金（12202224

ZR2025MS13）

详细信息

作者简介:
张轲（1998—），男，硕士生(E-mail: zhangke6011@163.com)；c

通讯作者:
张轲（1998—），男，硕士生(E-mail: zhangke6011@163.com)；张树翠（1986—），女，副教授，硕士生导师(通信作者. E-mail: zhangshucui@qut.edu.cn).

张轲（1998—），男，硕士生(E-mail: zhangke6011@163.com)；张树翠（1986—），女，副教授，硕士生导师(通信作者. E-mail: zhangshucui@qut.edu.cn).

中图分类号: O313.7
计量
- 文章访问数: 8
- HTML全文浏览量: 2
- PDF下载量: 2
- 被引次数: 0
出版历程
- 收稿日期: 2025-05-09
- 修回日期: 2025-10-11
- 网络出版日期: 2026-07-23

Study on Quasi-Static Modeling and Path Tracking of Cable-Driven Continuum Robots

1. School of Science, Qingdao University of Technology, Qingdao, Shandong 266525, P.R. China;
2. Zhongtong Bus Holding Co., Ltd., Liaocheng, Shandong 252000, P.R. China

Funds:

12272197)

The National Science Foundation of China(12202224

摘要

摘要: 绳-孔滑动摩擦造成的驱动迟滞效应是制约绳驱连续型机器人多功能、多领域应用的关键难题之一.在轨迹跟踪过程中，驱动绳索经历密集的收、放绳切换，滑动摩擦力在过线孔内频繁换向，导致柔性臂的当前构型因驱动历史的不同而产生明显差异.本文基于多柔体系统动力学理论开展绳驱连续型机器人的准静态建模，构建了刚、柔运动解耦的节点力平衡方程，详细推导了节点力、绳索驱动力的切线刚度矩阵，提高节点力平衡方程的收敛速度.将轨迹跟踪问题解释为多体系统的伺服约束问题，采用非线性最小二乘求解器嵌套Newton-Raphson迭代算法，开展有、无末端负载两种条件下的路径跟踪仿真，得到了连续型机器人的构型演化规律.
- 绳驱连续型机器人 /
- 准静态建模 /
- 迟滞 /
- 滑动摩擦 /
- 路径跟踪
Abstract: The actuation hysteresis effect caused by cable-hole sliding friction is one of the critical challenges limiting the multi-functional and multi-domain applications of cable-driven continuum robots. During trajectory tracking, the driving cables undergo frequent switching between winding and unwinding, leading to repeated reversals of sliding friction within the guiding holes. As a result, the current configuration of the flexible arm varies significantly depending on the actuation history. A quasi-static model for the cable-driven continuum robot was developed based on the dynamics theory of flexible multibody systems. A nodal force equilibrium equation with decoupled rigid and flexible motions was established, and the tangent stiffness matrices for both nodal forces and cable driving forces were rigorously derived to enhance the convergence rate of the equilibrium equation. The trajectory tracking problem was formulated as a servo constraint problem in multibody systems. A nonlinear least-squares solver incorporating the Newton-Raphson iterative algorithm was employed to conduct path tracking simulations under both loaded and unloaded end-effector conditions. The configuration evolution law of the continuum robot was thereby obtained.
- cable-driven continuum robot /
- quasi-static modeling /
- hysteresis /
- sliding friction /
- path tracking

HTML全文

参考文献(21)

[2]Peyron Q, Boehler Q, Rougeot P, et al. Magnetic concentric tube robots: introduction and analysis[J].The International Journal of Robotics Research,2022,41(4): 418-440.

Mao L, Yang P, Tian C, et al. Magnetic steering continuum robot for transluminal procedures with programmable shape and functionalities[J].Nature Communications,2024,15: 3759.

[3]齐飞, 葛奕玮, 刘先军, 等. 航空发动机叶片原位检测的可吸附连续体机器人运动建模及控制研究[J]. 仪器仪表学报, 2024,45(10): 97-109.(Qi Fei, Ge Yiwei, Liu Xianjun, et al. Motion modeling and control study of an adsorbable continuum robot for in-situ inspection of aero-engine blades[J].Chinese Journal of Scientific Instrument,2024,45(10): 97-109. (in Chinese))

[4]刘忠振, 蔡志勤, 彭海军, 等. 位-力驱动的线驱连续型机器人的动力学建模及实验验证[J]. 机器人, 2022,44(4): 410-417.(Liu Zhongzhen, Cai Zhiqin, Peng Haijun, et al. Dynamic modeling and experimental validation of cable-driven continuum robots actuated in position-force mode[J].Robot,2022,44(4): 410-417. (in Chinese))

[5]Liu Z, Cai Z, Peng H, et al. Morphology and tension perception of cable-driven continuum robots[J].IEEE/ASME Transactions on Mechatronics,2023,28(1): 314-325.

[6]杨太玮, 郑旭东, 徐文福, 等. 考虑迟滞及变形影响的主被动混合驱动绳驱空间机械臂运动学建模及求解[J]. 机器人, 2022,44(1): 45-54.(Yang Taiwei, Zheng Xudong, Xu Wenfu, et al. Kinematics modeling and solution of hybrid active-passive cable-driven space manipulator considering the effects of hysteresis and deformation[J].Robot,2022,44(1): 45-54. (in Chinese))

[7]Yang J, Yu H. Robust motion control synthesis with essential dynamics for hybrid-driven continuum robots[J].Mechanism and Machine Theory,2025,209: 105973.

[8]Wang H, Wang X, Yang W, et al. Construction of controller model of notch continuum manipulator for laryngeal surgery based on hybrid method[J].IEEE/ASME Transactions on Mechatronics,2021,26(2): 1022-1032.

[9]Cammarata A, Greco L, Castello D, et al. An implicit time integrator for Cosserat rods based on the spherical Bézier interpolation[J].Computer Methods in Applied Mechanics and Engineering,2025,445: 118195.

[10]Yu Z, Liu S, Tian Q. Kalman filter based state estimation for the flexible multibody system described by ANCF[J].Acta Mechanica Sinica,2025,41(5): 524373.

[11]Sonneville V, Géradin M. Two-field formulation of the inertial forces of a geometrically-exact beam element[J].Multibody System Dynamics,2023,59(2): 239-254.

[12]Sabari Nathan A, Bhattacharjee S, Bhaumik S. Quasi static analysis of multi-segment continuum robot using domain decomposition method[J].Procedia Computer Science,2018,133: 887-894.

[13]Miyasaka M, Haghighipanah M, Li Y, et al. Modeling cable-driven robot with hysteresis and cable-pulley network friction[J].ASME Transactions on Mechatronics,2020,25(2): 1095-1104.

[14]Wang C, Zhou Y, Wang X. Design and analytical modeling of a double-joint flexible surgical instrument with hand-held isomorphic actuation[J].Mechanism and Machine Theory,2024,203: 105804.

[15]Yang J, Peng H, Zhou W, et al. A modular approach for dynamic modeling of multisegment continuum robots[J].Mechanism and Machine Theory,2021,165: 104429.

[16]Shakerimov A, Altymbek M, Koganezawa K, et al. Machine learning-based inverse kinematics scalability for prismatic tensegrity structural manipulators[J].Robotics and Autonomous Systems,2025,193: 105102.

[17]张宇, 汪田鸿, 金滔, 等. 空间连续体机械臂运动学分析与末端控制方法[J]. 机械工程学报, 2025,61(1): 13-29.(Zhang Yu, Wang Tianhong, Jin Tao, et al. Kinematics analysis and end control method of space soft manipulator[J].Journal of Mechanical Engineering,2025,61(1): 13-29. (in Chinese))

[18]Huczala D, Mair A, Postulka T. Direct kinematics, inverse kinematics, and motion planning of 1-DoF rational linkages[J].Mechanism and Machine Theory,2025,213: 106074.

[19]Yang J, Peng H, Wu S, et al. A combined kinodynamic motion planning method for multisegment continuum manipulators in confined spaces[J].Nonlinear Dynamics,2024,112(4): 2721-2744.

[20]Wang G, Qi Z, Xu J. A high-precision co-rotational formulation of 3D beam elements for dynamic analysis of flexible multibody systems[J].Computer Methods in Applied Mechanics and Engineering,2020,360: 112701.

[21]Liu Z, Zhang X, Cai Z, et al. Real-time dynamics of cable-driven continuum robots considering the cable constraint and friction effect[J].IEEE Robotics and Automation Letters,2021,6(4): 6235-6242.

施引文献

资源附件(0)

访问统计