Dynamical model and experimental identification of a cable-driven finger joint for surgical robot

摘要

This paper proposes a new type of wire rope drive, and designed the single joint for Surgical Robot micro devices. Based on taking the elasticity of driven cable into account, the dynamical analysis of submodule, the complete and accurate dynamical model of the cable-driven finger joint for surgical robot were set up, designed of the estimator of the joint angle, and the DC servo motor control modelling. We focus on the modelling method and the experimental identification of the model parameters. The Inverse Dynamic Method (IDM) was adopted. Identification results were validated by another trajectory. The model shows a good efficiency in predicting the behaviour of the cable-driven finger joint.