Miniature, Lightweight, High-Force, Capstan Winch for Mobile Robots
Miniature, Lightweight, High-Force, Capstan Winch for Mobile Robots
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适用于移动机器人的微型、轻型、高力绞盘绞车
DOI：
10.1109/lra.2022.3192758
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发表时间：
2022
影响因子：
5.2
通讯作者：
Hawkes, Elliot W.
中科院分区：
文献类型：
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作者：
Heap, William E.;Keeley, Chris T.;Yao, Elvy B.;Naclerio, Nicholas D.;Hawkes, Elliot W.
施加张力力的致动器在机器人领域有着广泛的应用。在拉力执行器的许多应用中，大行程、高作用力以及小巧、轻便的装置是非常重要的。为了满足这些要求，目前最好的解决方案是绞车，它使用旋转轴来拉轻绳。然而，大多数绞车在轴上的线轴上积累绳索，这限制了最大行程长度和微型规模的力。另一种选择是绞盘绞盘，在绞盘中，绳索以单层螺旋的形式缠绕在轴上，然后离开轴。虽然存在高力和高冲程版本，但小型化尚未成功演示。我们介绍了一种小型化绞盘绞车的设计、建模和特性。16克绞车能够举起4.5公斤(280倍体重)的距离4.3米(67倍身体长度)或更多。我们还演示了它可以驱动一个跳跃机器人，并将一辆遥控汽车从沟里拉出来。通过其微型设计和高力、高行程性能，我们的绞车扩大了小型机器人的潜在能力。
Actuators that apply tension forces are widely applicable in robotics. In many applications of tensile actuators, a large stroke length, high force, and small, lightweight device are important. For these requirements, the best current solution is a winch, which uses a rotating shaft to pull lightweight string. However, most winches accumulate string in a spool on their shaft which limits maximum stroke length and force at a miniature scale. An alternative is a capstan winch, in which the string wraps around the shaft in a single-layered spiral before passing off the shaft. Although high-force and high-stroke versions exist, miniaturization has not been successfully demonstrated. We present the design, modeling, and characterization of a miniaturized capstan winch. The 16 g winch is capable of lifting 4.5 kg (280x body weight) a distance of 4.3 m (67x body length) or more. We also demonstrate it actuating a jumping robot and pulling a remote-controlled car out of a ditch. Through its miniature design and high-force, high-stroke performance, our winch expands the potential capabilities of small-scale robots.