Characterisation of Antagonistically Actuated, Stiffness-Controllable Joint-Link Units for Cobots
Characterisation of Antagonistically Actuated, Stiffness-Controllable Joint-Link Units for Cobots
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DOI：
10.1109/icra48891.2023.10161396
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发表时间：
2023-05
期刊：
影响因子：
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通讯作者：
Wenlong Gaozhang;Jialei Shi;Yue Li;A. Stilli;H. Wurdemann
中科院分区：
文献类型：
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作者：
Wenlong Gaozhang;Jialei Shi;Yue Li;A. Stilli;H. Wurdemann
软机器人结构可能在第四次工业革命中发挥重要作用。研究人员已经成功地证明了软机器人在许多应用领域中优于由刚性连杆和关节制成的传统机器人。变刚度连杆（VSL）和关节（VSJ）已被研究，以实现按需的力量，并在同一时间，在与人类的互动是固有的安全。然而，仍然需要对柔性和刚性机器人部件进行彻底的表征。本文研究了对抗驱动、刚度可控的关节-连杆单元（JLU）对协作机器人性能（刚度、负载能力、重复精度）的影响，并与刚性单元进行了比较。JLU由VSL、VSJ和它们的刚性对应物的组合组成。实验结果表明，VSL的刚度（0.62 <$0.95），输出力（0.93 <$0.94），和重复精度相比，刚性连杆有微小的差异。对于VSJ，我们的研究结果显示了显着的差距相比，伺服电机的最大刚度（0.14 <$0.21）和重复位置精度（0.07 <$0.25）。然而，在重复力精度上表现出类似的性能，并且在最大输出力（1.54 × 1.55倍）上表现出更好的性能。
Soft robotic structures may play a major role in the 4th industrial revolution. Researchers have successfully demonstrated the advantages of soft robotics over traditional robots made of rigid links and joints in many application areas. Variable stiffness links (VSL) and joints (VSJ) have been investigated to achieve on-demand forces and, at the same time, be inherently safe in interactions with humans. However, a thorough characterisation of soft and rigid robotic components is still required. This paper investigates the influence of antagonistically actuated, stiffness-controllable joint-link units (JLUs) on the performance of collaborative robots (i.e. stiffness, load capacity, repetitive precision) and characterizes the difference compared with rigid units. A JLU is made of a combination of a VSL, a VSJ, and their rigid counterparts. Experimental results show that the VSL has minor differences in terms of stiffness (0.62 ∼ 0.95), output force (0.93 ∼ 0.94), and repetitive precision compared with the rigid link. For the VSJ, our results show a significant gap compared with the servo motor with regards to maximum stiffness (0.14 ∼ 0.21) and repetitive position precision (0.07 ∼ 0.25). However, similar performance on repetitive force precision and better performance on the maximum output force (1.54 ∼ 1.55 times) are demonstrated.