Multi-Joint Bionic Mechanism Based on Non-Circular Gear Drive
Aiming at the nonlinear expansion/contraction drive problem between different cables in multi-joint cable drive mechanisms, a mechanical drive method based on a non-circular gear drive was proposed, which could replace the servo-sensing control system and minimize the system’s complexity and cost. A...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-06-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/8/3/272 |
| _version_ | 1797590124051038208 |
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| author | Dawei Liu Tao Zhang Yuetong Cao |
| author_facet | Dawei Liu Tao Zhang Yuetong Cao |
| author_sort | Dawei Liu |
| collection | DOAJ |
| description | Aiming at the nonlinear expansion/contraction drive problem between different cables in multi-joint cable drive mechanisms, a mechanical drive method based on a non-circular gear drive was proposed, which could replace the servo-sensing control system and minimize the system’s complexity and cost. A multi-joint single-degree-of-freedom (DOF) bending mechanism was constructed with several T-shaped components and cross-shaped components. The principle of the multi-joint mechanism driven by non-circular gears was clarified. The corresponding relationships between the joint bending angle, cables’ extension/retraction amount and non-circular gear transmission ratio were established. Using the Bowden cable driving, a multi-DOF bending mechanism decoupling scheme was proposed. Considering the adverse effect of non-circular gear hysteresis on the motion of multi-joint mechanisms, a non-circular gear backlash elimination method was proposed. The expression of the backlash of the non-circular gear with respect to the axial movement amount was deduced, which could enable the precise control of the backlash. A two-DOF multi-joint bionic mechanism driven by the non-circular gear was developed. The experimental results show that the mechanism can achieve coordinated bending motion by precisely controlling the line extension/contraction through non-circular gears. This multi-joint bionic mechanism driven by non-circular gears has the characteristics of reliable structure and simple control, and it is expected to be applied to bionic fish and bionic quadruped robots in the future. |
| first_indexed | 2024-03-11T01:15:57Z |
| format | Article |
| id | doaj.art-c2934565e06b4b2ba9500cb9a1235f98 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-11T01:15:57Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-c2934565e06b4b2ba9500cb9a1235f982023-11-18T18:29:24ZengMDPI AGBiomimetics2313-76732023-06-018327210.3390/biomimetics8030272Multi-Joint Bionic Mechanism Based on Non-Circular Gear DriveDawei Liu0Tao Zhang1Yuetong Cao2College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaCollege of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaCollege of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaAiming at the nonlinear expansion/contraction drive problem between different cables in multi-joint cable drive mechanisms, a mechanical drive method based on a non-circular gear drive was proposed, which could replace the servo-sensing control system and minimize the system’s complexity and cost. A multi-joint single-degree-of-freedom (DOF) bending mechanism was constructed with several T-shaped components and cross-shaped components. The principle of the multi-joint mechanism driven by non-circular gears was clarified. The corresponding relationships between the joint bending angle, cables’ extension/retraction amount and non-circular gear transmission ratio were established. Using the Bowden cable driving, a multi-DOF bending mechanism decoupling scheme was proposed. Considering the adverse effect of non-circular gear hysteresis on the motion of multi-joint mechanisms, a non-circular gear backlash elimination method was proposed. The expression of the backlash of the non-circular gear with respect to the axial movement amount was deduced, which could enable the precise control of the backlash. A two-DOF multi-joint bionic mechanism driven by the non-circular gear was developed. The experimental results show that the mechanism can achieve coordinated bending motion by precisely controlling the line extension/contraction through non-circular gears. This multi-joint bionic mechanism driven by non-circular gears has the characteristics of reliable structure and simple control, and it is expected to be applied to bionic fish and bionic quadruped robots in the future.https://www.mdpi.com/2313-7673/8/3/272multi-joint bionic mechanismcable drive mechanismnon-circular gearmotion decoupling |
| spellingShingle | Dawei Liu Tao Zhang Yuetong Cao Multi-Joint Bionic Mechanism Based on Non-Circular Gear Drive Biomimetics multi-joint bionic mechanism cable drive mechanism non-circular gear motion decoupling |
| title | Multi-Joint Bionic Mechanism Based on Non-Circular Gear Drive |
| title_full | Multi-Joint Bionic Mechanism Based on Non-Circular Gear Drive |
| title_fullStr | Multi-Joint Bionic Mechanism Based on Non-Circular Gear Drive |
| title_full_unstemmed | Multi-Joint Bionic Mechanism Based on Non-Circular Gear Drive |
| title_short | Multi-Joint Bionic Mechanism Based on Non-Circular Gear Drive |
| title_sort | multi joint bionic mechanism based on non circular gear drive |
| topic | multi-joint bionic mechanism cable drive mechanism non-circular gear motion decoupling |
| url | https://www.mdpi.com/2313-7673/8/3/272 |
| work_keys_str_mv | AT daweiliu multijointbionicmechanismbasedonnoncirculargeardrive AT taozhang multijointbionicmechanismbasedonnoncirculargeardrive AT yuetongcao multijointbionicmechanismbasedonnoncirculargeardrive |