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Research on impact resistance and active–passive compliance control of rope-driven joint unit

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Abstract

Based on the equivalent mechanics model of wire rope, a kinetics modeling method of rope-driven unit for robot rotary joint is proposed, and the kinetics equation of rope-driven unit is derived. The impact resistance of rope-driven unit is analyzed theoretically, including passive compliance and active compliance. The active compliance control is introduced on the basis of tension feedback and position closed-loop controller of joint. According to the signals of tension sensor to judge the impact force, the change of output joint angle of rope-driven unit which the impact force may cause is calculated. Then, it will be substituted into the system kinetics equation to obtain the compensation angle needed by motor, so that rope-driven unit makes the corresponding retrograde motion to achieve the effect of unloading force when it is impacted by the external. Taking FDU-II rope-driven unit developed independently by our laboratory as an example, the system kinetics modeling and impact experimental research are carried out by using the above method. The results show that the active–passive compliance control can effectively improve the impact resistance of FDU-II rope-driven unit. At present, FDU-II rope-driven unit can withstand 3 times of the impact force of the load gravity and achieve 20% of the buffer ability. Compared with the impact experimental results only relying on passive compliance, it has greatly improved and also effectively reduced the period of shock caused by the impact, which provides a theoretical and experimental basis for the future research of biped robot stable walking experiment.

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Acknowledgments

This work was supported by the Nation Key Research and Development Plan Project of the Ministry of Science and Technology of the People's Republic of China (2018YFB1304502).

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Authors and Affiliations

  1. Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab, Department of Mechanical Design, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001, China

    Xin Cao & Weiguo Wu

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  1. Xin Cao
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  2. Weiguo Wu
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Correspondence to Weiguo Wu.

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Technical Editor: Monica Carvalho.

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Cao, X., Wu, W. Research on impact resistance and active–passive compliance control of rope-driven joint unit. J Braz. Soc. Mech. Sci. Eng. 43, 417 (2021). https://doi.org/10.1007/s40430-021-03123-0

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