In tendon-driven systems, the elongation of the tendon would result in inaccuracy in the position control of the system. This becomes a critical challenge for those applications, such as surgical robots, which require the tendon-sheath system with flexible and even time-varying configurations but lack of corresponding sensory feedback at the distal end due to spatial restrictions. In this paper, we endeavor to address this problem by modeling the tendon elongation in a flexible tendon-sheath system. Targeting at flexibility in practical scenarios, we first derived a model describing the relationship between the overall tendon elongation and the input tension with arbitrary route configurations. It is shown that changes in the route configuration would significantly affect the tendon elongation. We also proposed a remedy to enhance the system tolerance against potential unmodeled perturbations along the transmission route during operation. A scaling factor S was introduced as a design guideline to determine the scaling effect. A dedicated platform that was able to measure the tensions at both ends and the overall tendon elongation was designed and set up to validate the new findings. Discussions were made on the performance and the future implementation of the proposed models and remedy. ; published_or_final_version


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Elongation Modeling and Compensation for the Flexible Tendon-Sheath System


    Beteiligte:
    Sun, ZL (Autor:in) / Wang, Z (Autor:in) / Phee, SJ (Autor:in)

    Erscheinungsdatum :

    2014-01-01


    Anmerkungen:

    19



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629




    Flexible membrane wing warping using tendon-sheath mechanism

    Lee, Shian / Tjahjowidodo, Tegoeh / Moon, Seung Ki | IEEE | 2015


    Tendon-Sheath Mechanisms in Flexible Membrane Wing Mini-UAVs: Control and Performance

    Tegoeh Tjahjowidodo / Shian Lee | DOAJ | 2017

    Freier Zugriff


    Optimal tendon configuration of a tendon control system for a flexible structure

    Lu, Jin / Thorp, James S. / Aubert, Brian H. et al. | AIAA | 1994