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Volume 8 Issue 11
Nov.  2021

IEEE/CAA Journal of Automatica Sinica

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Gaofeng Li, Dezhen Song, Lei Sun, Shan Xu, Hongpeng Wang and Jingtai Liu, "Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces," IEEE/CAA J. Autom. Sinica, vol. 8, no. 11, pp. 1817-1826, Nov. 2021. doi: 10.1109/JAS.2019.1911549
Citation: Gaofeng Li, Dezhen Song, Lei Sun, Shan Xu, Hongpeng Wang and Jingtai Liu, "Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces," IEEE/CAA J. Autom. Sinica, vol. 8, no. 11, pp. 1817-1826, Nov. 2021. doi: 10.1109/JAS.2019.1911549

Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

doi: 10.1109/JAS.2019.1911549
Funds:  This work was supported by National Natural Science Foundation of China (NSFC) (61573198, 61375087), and the Natural Science Foundation of Tianjin (15JCZDJC31200)
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  • To balance the contradiction between higher flexibility and heavier load bearing capacity, we present a novel deformable manipulator which is composed of active rigid joints and deformable links. The deformable link is composed of passive spherical joints with preload forces between socket-ball surfaces. To estimate the load bearing capacity of a deformable link, we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable link. This yields an important result that the load bearing capacity of a spherical joint only depends on its radius, preload force, and static friction coefficient. We further develop a parameter estimation method to estimate the product of preload force and static friction coefficient. The experimental results validate our model. 80.4% of percentage errors on the maximum payload mass prediction are below 15%.

     

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    Highlights

    • To balance the contradiction between flexibility and load bearing capacity, we introduce a deformable link composed of series of spherical joints
    • We present a static force-based model of spherical joints with preload forces and analyze the static force propagation in the deformable link
    • We proposed a low-cost calibration method to identify the model parameters

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