Modeling and Evaluation of a Twist Drive Actuator for Soft Robotics
Modeling and Evaluation of a Twist Drive Actuator for Soft Robotics
复制标题
软机器人扭转驱动执行器的建模和评估
DOI：
10.1163/156855312x626307
复制
发表时间：
2012
影响因子：
2
通讯作者：
K. Sakurai
中科院分区：
文献类型：
--
作者：
I. Godler;T. Sonoda;K. Sakurai
机器人技术正在扩大其应用范围，使机器人与人类和其他生物在一个共同的空间中共存，并且机器人与生物之间的合作和其他物理交互是预期和实际发生的。在这样的环境中，生物和机器人的安全需要不同于最近工业机器人使用的机器人机构的解决方案。在本文中，我们提出了一种名为扭转驱动的驱动器，它使用两根绳子，通过相互扭转产生拉力。该机构可用于取代机器人关节中的齿轮减速器，其优点源于其类似肌肉的操作和非线性特性。建立了描述该机构运动传动特性的数学模型，并与实验数据进行了比较。本文讨论并评价了运动刚度的被动特性。实验结果表明了所提模型的充分性。对市售管柱的耐久性进行了测试，并报告了结果。通过实例简要介绍了该方法在机器人关节中的应用。
Robotic technology is widening its scope into applications where robots coexist with humans and other living beings in a common space, and where cooperative and other physical interactions between the robots and the living beings are anticipated and actually occur. Safety of living beings and of robots in such an environment calls for solutions in robot mechanisms that are different from the recently used ones in industrial robotics. In this paper we present an actuator named a Twist Drive, which uses two strings that by twisting on each other generate a pulling force. The mechanism can be used to replace gear reducers in robot joints with benefits that originate in its muscle-like operation and in its nonlinear characteristics. A mathematical model to describe the kinematic transmission characteristics of the mechanism is presented and compared to experimental data. A passive characteristic of kinematic stiffness is discussed and evaluated in the paper. Experimental results show the adequacy of the proposed models. Durability of commercially available strings was tested and the results reported. Application in a robot's joint is briefly presented by an example.