Tendon-Driven Robotic Arm with NST
Tendon-Driven Robotic Arm with NST
复制标题
采用 NST 的肌腱驱动机械臂
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Kobayashi
中科院分区：
文献类型：
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作者：
Daisuke;Ogane;Kazuhito;Hyodo;Hiroaki;Kobayashi
如果实现一种与人类手臂特征相似的机械臂，将为机器人的应用开辟新的可能性。这种特性的一个典型例子是粘弹性可调性。人类手臂的肌肉远远多于DOF，可以随意调整关节的僵硬程度。此属性允许我们成功地执行各种任务。为了设计一种能够在同一区域内与人类协同、舒适、安全地工作的机器人，研制了一种具有以下特点的绳索驱动机械手。1.它有7个自由度，连杆结构和尺寸都类似于人的手臂。2.它有10根肌腱和非线性弹簧张紧装置(NST)，使得可以在非常大的范围内调整机械关节的刚度。利用这些特性，机器人可以将阻抗与包括人类同事在内的环境匹配，并有效地执行各种任务。讨论了具有非线性弹簧张紧装置的7自由度绳索驱动机械臂的工作原理和控制问题。文中还给出了几个实验结果，证明了它们的有效性。
If a robot arm which has similar characteristics to human arm is realized, it will open new possibilities in the application of robots. One typical example of such characteristics is viscous-elasticity adjustability. A human arm has muscles far more than the D.O.F. and can adjust the joint stiffness at will. This property allows us to perform various tasks successfully. In this paper, to design a robot which can work with human beings cooperatively, comfortably and safely in the same area, a tendon-driven manipulator which has the following properties is developed. 1. It has 7 D.O.F. and the linkage configuration as well as the dimensions are similar to a human arm. 2. It has ten tendons together with no-linear spring tensioning devices (NST) which make it possible to adjust the mechanical joint stiffness over a very wide range. Using these properties, the robot can match the impedance with the environment including a human coworker and do various tasks effectively. The mechanism and control problems of the 7 D.O.F. tendon-driven robotic arm with non-linear spring tensioning devices are discussed. Several experimental results are also given to show their efficiency.