Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer
Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer
复制标题
低减速器轻型手臂机器人重力与抓取力同时补偿机构
DOI：
10.1017/s0263574718001479
复制
发表时间：
2019
期刊：
影响因子：
2.7
通讯作者：
Kawamura Sadao
中科院分区：
文献类型：
--
作者：
Uemura Mitsunori;Mitabe Yuki;Kawamura Sadao
在本文中，我们提出了一种新的机制，以补偿重力和夹持力的手臂机器人。该机构补偿由手臂机器人抓取的物体产生的重力扭矩。机器人手防止物体掉落所需的夹持力也同时得到补偿。该机构只需要一个致动器放置在机器人的肩部。因此，该机构可以减少关节驱动器的扭矩需求，降低机器人的重量。每个机器人关节中的减速齿轮的传动比也可以减小。这些优势对于未来在非结构化环境中执行任务并与人类合作的机器人至关重要。我们进行了实验，6自由度的机器人手臂具有1自由度的夹具，以证明所提出的机制的有效性。
In this paper, we propose a novel mechanism to compensate for gravity and the gripping force in a hand-arm robot. This mechanism compensates for the gravitational torque produced by an object gripped by the hand-arm robot. The gripping force required for the robot hand to prevent the object from dropping is also simultaneously compensated for. This mechanism requires only one actuator placed on the shoulder part of the robot. Therefore, this mechanism can reduce the torque requirement of joint actuators and lower the weight of the robot. The gear ratio of the reduction gears in each robot joint can then also be reduced. These advantages are critical for future robots that perform tasks in unstructured environments and collaborate with humans. We carried out experiments with a 6-DoF robot arm having a 1-DoF gripper to demonstrate the effectiveness of the proposed mechanism.