TY - GEN
T1 - Kinetics Modeling Method for Wire Rope Transmission System Based on the Equivalent Mechanics Model of Wire Rope and Its Application to the FDU-II Unit
AU - Cao, Xin
AU - Wu, Weiguo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Aiming at the problem for kinetics modeling of wire rope transmission system, a novel kinetics modeling method which has good practicability and universality is proposed. The method considers the different structural parameters and states of wire rope in transmission system, based on the equivalent mechanics model of wire rope. Taking the rope-driven unit (FDU-II) as an example, the kinetics model is established by this method instead of viscoelastic theory. The dynamics simulation and experimental researches are carried out. In order to improve the control accuracy of the unit, the tension feedback and position closed loop of joint controller is modified and applied. The contrast results show that the theoretical values calculated in this paper are closer to the simulation and experimental results. And the experimental results provide a basis for the research of impact resistance and stable walking of rope-driven robots.
AB - Aiming at the problem for kinetics modeling of wire rope transmission system, a novel kinetics modeling method which has good practicability and universality is proposed. The method considers the different structural parameters and states of wire rope in transmission system, based on the equivalent mechanics model of wire rope. Taking the rope-driven unit (FDU-II) as an example, the kinetics model is established by this method instead of viscoelastic theory. The dynamics simulation and experimental researches are carried out. In order to improve the control accuracy of the unit, the tension feedback and position closed loop of joint controller is modified and applied. The contrast results show that the theoretical values calculated in this paper are closer to the simulation and experimental results. And the experimental results provide a basis for the research of impact resistance and stable walking of rope-driven robots.
UR - https://www.scopus.com/pages/publications/85078321909
U2 - 10.1109/ARSO46408.2019.8948828
DO - 10.1109/ARSO46408.2019.8948828
M3 - 会议稿件
AN - SCOPUS:85078321909
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 340
EP - 345
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -