位－力驱动的线驱连续型机器人的动力学建模及实验验证

提出了一种位－力混合驱动的线驱连续型机器人的动力学模型。首先，基于集中质量矩阵法进行机器人动力学建模，将机器人动能的连续积分等效离散为三点求和形式，可简化建模过程并提升仿真的计算效率。其次，分析了驱动力与驱动线几何约束的力学关系，将线驱动作用等效建模为电机的驱动参数与牵引线张力的线性方程组，不仅可以精确地满足牵引线对系统的约束条件，还可以在不使用拉力传感器的条件下得到线的驱动力，降低了机器人成本及控制难度，这种方法适用于任意数量牵引线的连续型机器人。最后，将线驱连续型机器人的仿真和实验结果进行对比，机器人末端点的轨迹最大误差为3.85%，验证了所提模型的有效性。

Dynamic Modeling and Experimental Validation of Cable-driven Continuum Robots Actuated in Position-Force Mode

A dynamic model of cable-driven continuum robots in hybrid position-force actuation mode is proposed. Firstly, a lumped mass matrix method is adopted in dynamic modeling of the robot. The continuously integral term of the kinetic energy for the robot is equivalently discretized into a summation form of three points, which can simplify the modeling process and improve the computational efficiency of simulations. Secondly, the mechanical relationship between the driving force and the geometrical constraint of the driving cable is analyzed, the cable actuation is equivalently modeled as linear equations of the driving parameters of motors and the tensions in cables. This actuation mode can not only accurately satisfy the constraint of the cable on the system, but also obtain the driving force of the cable without using a tension sensor, which reduces the cost and control difficulty of cable-driven robots. It is applicable to continuum robots driven by any number of cables. Finally, a comparison of the results from the numerical simulations and experiments for a cable-driven continuum robot verifies the validity of the proposed model, and the maximum error for the trajectory at the terminal point is 3.85%.