Design and Control of a Continuum Arm with Variable Stiffness

被引：0

作者：

Geng S.-N. ^{[1
]}

Wang Y.-Y. ^{[2
]}

Chen L.-S. ^{[3
]}

Wang C. ^{[1
]}

Kang R.-J. ^{[1
]}

机构：

[1] Key Laboratory of Mechanism Theory and Equipment Design (Tianjin University), Ministry of Education, Tianjin

[2] Beijing Institute of Spacecraft System Engineering, Beijing

[3] School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin

来源：

Yuhang Xuebao/Journal of Astronautics | 2018年 / 39卷 / 12期

关键词：

Continuum arm; Space manipulation; Variable stiffness;

D O I：

10.3873/j.issn.1000-1328.2018.12.010

中图分类号：

学科分类号：

摘要：

Considering the impact and damage resulted from the collision of the existing rigid space arms, a variable stiffness tendon-driven continuum arm that can passively adapt to the collisions and ensure the operation accuracy is proposed. Based on the structure with material of super-elastic NiTi alloy as the backbone and driving tendons, a variable stiffness method using the shape memory alloy (SMA) to change the internal friction is put forward. Through the kinematic analysis, the coordinate mappings from the joint space to configuration space and workspace, as well as the Jacobian matrixes are obtained, and a closed-loop controller is designed by integrating the end position feedback. Based on the measurement of the driving forces on the tendons, a collision detection method and a variable stiffness control strategy are established. The results show that the presented continuum arm has good tracking accuracy and capability of stiffness adjustment. © 2018, Editorial Dept. of JA. All right reserved.

引用

页码：1391 / 1400

页数：9

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