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

abstract

• IEEE 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%.

authors

• Song, Dezhen

published proceedings

• IEEE-CAA JOURNAL OF AUTOMATICA SINICA

author list (cited authors)

• Li, G., Song, D., Sun, L., Xu, S., Wang, H., & Liu, J.

citation count

• 0

complete list of authors

• Li, Gaofeng||Song, Dezhen||Sun, Lei||Xu, Shan||Wang, Hongpeng||Liu, Jingtai

publication date

• November 2021

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE/CAA Journal of Automatica Sinica  Journal

keywords

• Deformable Link
• Parameters Identification
• Spherical Joint With Preload Force
• Static Force-based Model

Digital Object Identifier (DOI)

• 10.1109/JAS.2019.1911549

start page

• 1817

end page

• 1826

volume

• 8

issue

• 11

URL

• http://dx.doi.org/10.1109/jas.2019.1911549