A low-friction passive fluid transmission and fluid-tendon soft actuator
A low-friction passive fluid transmission and fluid-tendon soft actuator
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低摩擦被动流体传动和液腱软执行器
DOI：
10.1109/iros.2014.6942946
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
J. Hodgins
中科院分区：
文献类型：
--
作者：
J. P. Whitney;Matthew Glisson;Eric Brockmeyer;J. Hodgins
提出了一种基于滚动膜片缸对的被动式流体传动。变速器油工作容积完全密封，形成封闭的被动系统，确保输入输出对称性和完全的反向驱动能力。滚动波纹密封气缸提供无泄漏操作，没有传统滑动密封的静摩擦。流体压力预加载允许双向操作，并且还用于预加载线性到旋转输出耦合器中的齿轮或带，从而消除系统端到端的齿隙。一个原型传输建立和测试的刚度，带宽和摩擦性能使用空气或水作为工作流体。扭矩传递在整个行程中是平稳的，静摩擦力测量为全范围扭矩的1%或更小。我们还提出了一种腱耦合设计，其中滚动膜片从其正常方向反转;这种设计不需要轴支撑衬套，可以容忍错位，并且可以由基本上柔软的材料制成。执行机构和被动传输演示使用这种新的软缸设计。
We present a passive fluid transmission based on antagonist pairs of rolling diaphragm cylinders. The transmission fluid working volume is completely sealed, forming a closed, passive system, ensuring input-output symmetry and complete backdrivability. Rolling diaphragm-sealed cylinders provide leak-free operation without the stiction of a traditional sliding seal. Fluid pressure preloading allows for bidirectional operation and also serves to preload the gears or belts in the linear-to-rotary output coupler, eliminating system backlash end-to-end. A prototype transmission is built and tested for stiffness, bandwidth, and frictional properties using either air or water as working fluids. Torque transmission is smooth over the entire stroke and stiction is measured to be one percent of full-range torque or less. We also present a tendon-coupled design where the rolling diaphragm is inverted from its normal orientation; this design does not require shaft support bushings, tolerates misalignment, and can be made out of substantially soft materials. Actuator units and a passive transmission are demonstrated using this new soft cylinder design.