Research regarding wires elastic deformations influence on joints positioning of a wire-driven robotic arm

4th ModTech International Conference - Modern Technologies in Industrial Engineering

Ciofu, C.^1 ; Stan, G.^1

Department of Industrial Engineering, Vasile Alecsandri University of Bacau, 157 Calea Marasesti Street, Bacau

600115, Romania^1

关键词: Driving systems;    Joint moment;    Manipulated objects;    Positioning precision;    Precision positioning;    Programming algorithms;    Resistance moments;    Static load analysis;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/145/5/052006/pdf
DOI  :  10.1088/1757-899X/145/5/052006

来源: IOP

【 摘 要 】

In this paper, we present the influence of driving wires deformation on positioning precision of joints from an elephant's trunk robotic arm. Robotic arms driven by wires have the joint accuracy largely depending on wires rigidity. The joint moment of resistance causes elastic deformation of wires and it is determined by: manipulated object load, weight loads previous to the analyzed joint and inherent resistance moment of joint. Static load analysis emphasizes the particular wires elastic deformation of each driven joint from an elephant's trunk robotic arm with five degrees of freedom. We consider the case of a constant manipulated load. Errors from each driving system of joints are not part of the closed loop system. Thus, precision positioning depends on wires elastic deformation which is about microns and causes angle deviation of joints about tens of minutes of sexagesimal degrees. The closer the joints to base arm the smaller positioning precision of joint. The obtained results are necessary for further compensation made by electronic corrections in the programming algorithm of the elephant's trunk robotic arm to improve accuracy.