Analytical study on increasing isotropy of intrinsic stiffness in manipulators through biarticular structure
Analytical study on increasing isotropy of intrinsic stiffness in manipulators through biarticular structure
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双关节结构增加机械臂固有刚度各向同性的解析研究
DOI：
10.1109/aim.2014.6878078
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
T.
中科院分区：
文献类型：
--
作者：
Salvucci;V. ; Baratcart;T. ; Koseki;T.
当机器人和人类在一项任务中相互作用时，刚度是性能所必需的，而被动顺应性是安全的基础。这两个因素是机器人与人类互动的内在顺应性调制的动机。可变刚度致动器（VSA）允许关节的同时位置和刚度控制，并且因此已经在实现固有顺应性和高性能机械手中实施。大多数应用在单关节结构中使用VSA，其中一个致动器驱动一个关节。然而，在生物世界中，双关节肌肉（跨越两个关节的肌肉）在人类的运动控制中发挥着重要作用，减少了连杆惯性，增加了末端执行器力的各向同性。在这项工作中，一个两连杆平面机械手驱动的VSA在两个不同的驱动结构（传统的单关节和仿人双关节）被考虑在内。对两种驱动结构的末端执行器刚度进行了计算和分析。与VSA单关节结构相比，VSA双关节结构中的末端执行器刚度在有利于执行与环境接触的动态任务的工作空间区域中显示出更高的各向同性。
When robots and humans interact in a task, stiffness is necessary for performance, while passive compliance is fundamental for safety. These two factors are the motivation for intrinsic compliant modulation in robots interacting with humans. Variable Stiffness Actuators (VSAs) allow for simultaneous position and stiffness control of a joint, and therefore have been implemented in the realization of intrinsically compliant and high performance manipulators. Most applications employ VSAs in a monoarticular structure, in which one actuator drives one joint. In the biological world however, biarticular muscles (muscles spanning two joints) play a fundamental role in motion control for humans, reducing link inertia and increasing isotropy of end effector force. In this work, a two-link planar manipulator actuated with VSAs in two different actuation structures (the traditional monoarticular and humanlike biarticular) is taken into account. The end effector stiffness in both actuation structures is calculated and analyzed. In comparison with the VSA monoarticular structure, the end effector stiffness in the VSA biarticular structure shows a higher isotropy in the region of the workspace favorable for executing dynamic tasks in contact with the environment.