Passive Robotics: An Exploration of Mechanical Computation
Passive Robotics: An Exploration of Mechanical Computation
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被动机器人：机械计算的探索
DOI：
10.1109/robot.1990.125987
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
J. Colgate
中科院分区：
文献类型：
--
作者：
A. Goswami;M. Peshkin;J. Colgate
我们邀请读者将被动手腕视为机械计算机。手腕会计算出特定的运动来响应每个施加的力，这定义了它的控制定律。假设手腕的设计（组成手腕的机械元件（弹簧、液压缸、阻尼器等）的几何布局）保持固定。我们可以通过更改其中一些元素的参数（例如弹簧刚度）来对手腕进行“编程”。这样的手腕可以执行的控制法则范围是多少？本文的主题是固定设计的被动手腕可以通过编程来执行各种有用的控制法则。我们特别考虑手腕，其执行器是无动力液压缸，其端口通过可变电导收缩彼此耦合。通过选择这些电导，对手腕进行编程，就像对模拟计算机进行编程一样。我们以数学方式描述了此类设备可以计算的控制定律的范围。
We invite the reader to think of a passive wrist as a mechanical computer. The wrist computes a particular motion in response to every applied force, and this defines its control law. Suppose that the design of a wrist (the geometric layout of mechanical elements -- springs, hydraulic cylinders, dampers, and so on -- which compose it) is held fixed. We can "program" the wrist by changing the parameters (for example, the spring stiffnesses) of some of these elements. What is the range of control laws such a wrist can execute? The thesis of this paper is that a passive wrist, of fixed design, can be programmed to execute a wide range of useful control laws. We consider in particular wrists whose actuators are unpowered hydraulic cylinders, the ports of which are coupled to one another via variable-conductance constrictions. By selection of these conductances the wrist is progammed, much as an analog computer is programmed. We characterize mathematically the range of control laws such a device can compute.