机器人2026，Vol.48Issue(3)：473-483,11.DOI:10.13973/j.cnki.robot.250016
绳驱连续型机器人残余振动抑制的动力学驱动优化设计
Optimization of Dynamic Driving Design for Residual Vibration Suppression of Cable-driven Continuum Robots
摘要
Abstract
When continuum robots are driven at high speeds,their inherent flexibility leads to significant residual vibrations during motion,which severely impacts motion precision.To address this issue,this paper proposes a driving optimization de-sign method for suppressing residual vibrations in any configuration,based on the dynamic model of cable-driven continuum robots.A differential-algebraic equation model is developed,taking cable length as the driving variable for the continuum robot.This model is then used to analyze the factors influencing residual vibrations in various typical cable-driven contin-uum robots.Furthermore,a NURBS(non-uniform rational B-spline)curve-based dynamic driving laws is devised,and an optimization mathematical formulation is derived to minimize residual vibrations.Experimental results show that,prior to driving optimization,the maximum residual vibration amplitudes during high-speed(1s)and medium-speed(5 s)motions are 108.4 and 11.1 mm,respectively.After optimization,these amplitudes are reduced to 20.1 and 0.9 mm,achieving up to 84.5％reduction in residual vibration indicator.These results strongly validate the effectiveness of the proposed dynamic driving optimization design method.Additionally,the proposed method is applied to scenarios such as rapid targeting and fast object transfer,significantly enhancing the dynamic motion performance of the continuum robot.关键词
连续型机器人/残余振动/动力学模型/绳索驱动/驱动设计Key words
continuum robot/residual vibration/dynamic model/cable-driven/driving design引用本文复制引用
杨浩,李飞,何晨煜,杨朝中,张捷,彭海军..绳驱连续型机器人残余振动抑制的动力学驱动优化设计[J].机器人,2026,48(3):473-483,11.基金项目
国家自然科学基金(U2241263,12202091). （U2241263,12202091）
