Transmission Comparison for Cooperative Robotic Applications
Transmission Comparison for Cooperative Robotic Applications
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DOI：
10.3390/act10090203
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发表时间：
2021-09-01
期刊：
影响因子：
2.6
通讯作者：
Makowski, Nathaniel S.
中科院分区：
文献类型：
--
作者：
Nandor, Mark J.;Heebner, Maryellen;Makowski, Nathaniel S.
集成外骨骼电机和肌肉激活用于步态恢复的动力辅助设备的开发受益于具有低反向驱动扭矩的致动器。这种方法使电机能够根据需要提供帮助，同时最大化关节扭矩肌肉，有助于运动，并促进弹道运动，而不是克服被动动力学。开发了两个机电致动器来确定外骨骼关节的两种候选传输实施方式的效果。为了区分传动效果，这些装置使用相同的电机和相似的传动装置。一个致动器包括市售的谐波传动变速器，而另一个致动器包括定制设计的两级行星变速器。被动阻力和机械效率是基于等长扭矩和被动阻力确定的。基于行星的致动器在所有测试中都优于基于谐波的致动器，并且更适合于混合外骨骼。
The development of powered assistive devices that integrate exoskeletal motors and muscle activation for gait restoration benefits from actuators with low backdrive torque. Such an approach enables motors to assist as needed while maximizing the joint torque muscles, contributing to movement, and facilitating ballistic motions instead of overcoming passive dynamics. Two electromechanical actuators were developed to determine the effect of two candidate transmission implementations for an exoskeletal joint. To differentiate the transmission effects, the devices utilized the same motor and similar gearing. One actuator included a commercially available harmonic drive transmission while the other incorporated a custom designed two-stage planetary transmission. Passive resistance and mechanical efficiency were determined based on isometric torque and passive resistance. The planetary-based actuator outperformed the harmonic-based actuator in all tests and would be more suitable for hybrid exoskeletons.