Bundled Rotary Helix Drive Mechanism Capable of Smooth Peristaltic Movement
Bundled Rotary Helix Drive Mechanism Capable of Smooth Peristaltic Movement
复制标题
捆绑式旋转螺旋驱动机构，蠕动顺畅
DOI：
10.1109/lra.2020.2986993
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发表时间：
2020
影响因子：
5.2
通讯作者：
Satoshi Tadokoro
中科院分区：
文献类型：
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作者：
Masahiro Watanabe;Kenjiro Tadakuma;Masashi Konyo;Satoshi Tadokoro
本文重点研究了波浪轮机器人的设计方法，该机器人能够产生光滑的连续蠕动波，波浪轮由捆绑式旋转螺旋驱动机构驱动。波轮主要由编织网管、沿圆周排列的多个螺旋和正齿轮组成。当单个电机旋转螺旋时，轮子产生蠕动波。所提出的机制具有一些独特的特点：(1)原则上，可以用简单的结构产生光滑的蠕动。（ii）可由单电机驱动，通过轴的无限旋转，可以高速传播波浪。（三）该结构为横平面上的圆形，可作为全向驱动轮。从几何角度讨论了波形、速度、碰撞条件等基本设计方法。在考虑机械约束的模型基础上，设计制作了机器人样机并进行了实验测试。当螺旋角速度为60 rad/s时，原型机（直径为57 mm）的蠕动运动最高速度为43 mm/s。通过运动捕捉获得了网格表面的运动轨迹，结果表明，由于网格与螺旋之间的滑动，速度在整个表面上不是恒定的，而是随时间周期性变化的。
Herein, we focus on the design method of a robot, named Wave Wheel, capable of generating a smooth continuous peristaltic wave, which is driven by a bundled rotary helix drive mechanism. Wave Wheel mainly consists of a braided mesh tube, multiple helices that are arranged on the circumference, and spur gears. When a single motor rotates the helices, the wheel generates peristaltic waves. The proposed mechanism has some unique characteristics: (i) In principle, smooth peristalsis can be generated with a simple structure. (ii) It can be driven by a single motor and can propagate waves at high speed by infinite rotation of the shaft. (iii) The structure is a circle in the transversal plane and can be used as an omnidirectional drive wheel. The basic design method, such as waveform, velocity, and the collision condition are discussed from a geometrical point of view. Based on the model accounting for the mechanical constraints, we have designed and fabricate a prototype robot and experimentally tested it. The prototype (diameter of 57 mm) reached the top speed of the peristaltic locomotion of 43 mm/s when angular velocity of the helix was 60 rad/s. We obtained the trajectory of the mesh surface by motion capture, and the result showed that the velocity was not constant on the whole surface but periodically changed with time due to the sliding between the mesh and the helix.