Passive Orientation Control of Nozzle Unit With Multiple Water Jets to Expand the Net Force Direction Range for Aerial Hose-Type Robots
Passive Orientation Control of Nozzle Unit With Multiple Water Jets to Expand the Net Force Direction Range for Aerial Hose-Type Robots
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DOI：
10.1109/lra.2021.3082019
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发表时间：
2021-07
影响因子：
5.2
通讯作者：
Y. Yamauchi;Yuichi Ambe;M. Konyo;K. Tadakuma;S. Tadokoro
中科院分区：
文献类型：
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作者：
Y. Yamauchi;Yuichi Ambe;M. Konyo;K. Tadakuma;S. Tadokoro
流体注射作为一种新型的驱动方法，使机器人能够快速切换大的力量有很大的潜力。我们提出了一种具有多个主动旋转喷嘴的喷嘴单元，用于同时控制净力的大小和方向。然而，当多个喷嘴单元连接到长柔性机器人时，会出现新的基本挑战，从而解决因扭曲而导致的扩大注射范围的需求。所提出的喷嘴单元可以使用被动旋转机构来自动跟随预期的喷射方向，从而大幅扩展喷射范围。具体地说，喷嘴单元由被动转动关节和两个主动转动喷嘴组成，以实现净力。如果该装置向内喷射射流，则喷嘴姿态收敛到净力的方向，而无需任何额外的控制。通过对所提出的喷嘴单元进行建模，我们从理论上验证了所提出的单元的全局稳定性，并推导出几何参数的充分条件。此外，我们证明了一些几何参数可以修改姿态的响应。所开发的喷嘴单元通过实验验证了喷嘴单元可以在从向上到向下方向的180度范围内引导净力方向。此外，我们观察了几个增益的姿态的阶跃响应，并确认响应性可以通过几何参数来调整。实验结果与模型趋势吻合较好。
Fluid injection has promising potential as a novel actuation approach for robots to enable the rapid switching of large forces. We have proposed a nozzle unit with multiple active rotating nozzles for controlling the magnitude and direction of the net force simultaneously. However, a new fundamental challenge arises when multiple nozzle units are connected to a long flexible robot, hence addressing the need to expand the injection range caused by twisting. The proposed nozzle unit can drastically expand the injection range using a passive rotation mechanism to automatically follow the intended injection direction. Concretely, the nozzle unit consists of the passive joint to rotate and two active rotating nozzles to realize the net force. If the unit emits the jets inwardly, the nozzle posture converges to the direction of net force without any additional control. By modeling the proposed nozzle unit, we theoretically validate the global stability of the proposed unit and derive sufficient conditions for geometric parameters. Moreover, we demonstrate that some geometrical parameters could modify the responsiveness of the posture. The developed nozzle unit experimentally verifies that the nozzle unit can direct the net force direction in the range of 180 degrees from the upward to the downward direction. In addition, we observe the step responses of the posture for several gains and confirm that responsiveness could be tuned by geometrical parameters. The results of the experiments agree well with the model trends.