Steerability in Planar Dissipative Passive Robots
Steerability in Planar Dissipative Passive Robots
复制标题
DOI：
10.1177/0278364909100976
复制
发表时间：
2010-04-01
影响因子：
9.2
通讯作者：
Book, Wayne J.
中科院分区：
文献类型：
--
作者：
Gao, Dalong;Book, Wayne J.
直观上，可操纵性是改变方向的能力。在本文中，给出了机器人被动或主动实现的可操纵性的正式定义。耗散被动机器人仅使用被动执行器，例如制动器和离合器（离合器本质上是制动器加变速箱），通过耗散能量来重定向或引导操作员施加的运动。虽然它具有安全性和人体工程学优势，这对于人类互动至关重要，但由于被动执行器无法增加能量，因此它在重定向某些运动方面也存在困难。被动致动器产生的力用于测量转向能力。然后针对具有广义被动执行器的操纵器开发了可操纵性定理。对示例菱形机械手的操纵性分析显示了仅使用制动器或制动器和离合器组合时操纵性的差异。进一步的分析表明，差异来自于离合器通过改变有效齿轮比来改变主体机器人中产生的力的方向的能力。
Steerability is intuitively the ability to change directions. In this paper, a formal definition is given for the steerability of a robot achieved either passively or actively. A dissipative passive robot uses only passive actuators such as brakes and clutches ( a clutch is essentially a brake plus a gearbox) to redirect or steer operator-imposed motion by dissipating energy. While it has safety and ergonomic advantages, which are essential for human interactions, it also has difficulties in redirecting certain motions since passive actuators cannot add energy. The force generated from a passive actuator is used to measure the steerability. A steerability theorem was then developed for a manipulator with generalized passive actuators. The steerability analysis for an example diamond-shaped manipulator shows the difference in steerability when using only brakes or a combination of brakes and clutches. Further analyses show the difference comes from the ability of a clutch to change the direction of the generated force in the subject robot by altering the effective gear ratios.