Design and Control of a Dual Unidirectional Brake Hybrid Actuation System for Haptic Devices
Design and Control of a Dual Unidirectional Brake Hybrid Actuation System for Haptic Devices
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DOI：
10.1109/toh.2014.2346501
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发表时间：
2014-10-01
影响因子：
2.9
通讯作者：
Micaelli, Alain
中科院分区：
文献类型：
--
作者：
Rossa, Carlos;Lozada, Jose;Micaelli, Alain
结合制动器和电机的混合执行器已成为实现触觉设备高性能的有效解决方案。在本文中，提出了一种使用两个单向制动器和直流电机的驱动方法。制动器连接到超越离合器并且只能在一个旋转方向上施加扭矩。独立于虚拟环境模型的相关控制律实时计算控制增益，以限制电机传递的能量和刚度以确保稳定性。使用电机和制动器的组合来遵守参考扭矩。最后，进行了用户实验来评估被动和主动扭矩差异对弹性感知的影响。所提出的执行器的扭矩范围为 0.03 Nm 至 5.5 Nm，扭矩密度为 17.75 kNm(-2)。
Hybrid actuators combining brakes and motors have emerged as an efficient solution to achieve high performance in haptic devices. In this paper, an actuation approach using two unidirectional brakes and a DC motor is proposed. The brakes are coupled to overrunning clutches and can apply a torque in only one rotational direction. The associated control laws, that are independent of the virtual environment model, calculate the control gains in real time in order limit the energy and the stiffness delivered by the motor to ensure stability. The reference torque is respected using the combination of the motor and the brake. Finally, an user experiment has been performed to evaluate the influence of passive and active torque differences in the perception of elasticity. The proposed actuator has a torque range of 0.03 Nm to 5.5 Nm with a 17.75 kNm(-2) torque density.