Optimizing Stiffness of a Novel Parallel-Actuated Robotic Shoulder Exoskeleton for a Desired Task or Workspace
Optimizing Stiffness of a Novel Parallel-Actuated Robotic Shoulder Exoskeleton for a Desired Task or Workspace
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针对所需任务或工作空间优化新型并行驱动机器人肩部外骨骼的刚度
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Hyunglae Lee
中科院分区：
文献类型：
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作者：
Justin Hunt;P. Artemiadis;Hyunglae Lee
本工作的目的是优化刚度的一种新型的并联驱动机器人外骨骼设计提供一个大的工作空间。这样做的努力，以帮助提供一个解决方案的问题，可穿戴并联驱动机器人面临的刚度和工作空间之间的权衡。该设备以肩部外骨骼的形式呈现，展示了一种新的并行架构，也可用于可穿戴的髋关节、踝关节和腕关节机器人。结构的刚度取决于其驱动子结构的位置。因此，希望有效地放置这些子结构，以便最大化任何应用的动态性能。在这项工作中，该设备的分析刚度模型的创建和实验验证。该模型，然后使用，沿着与有界非线性多目标优化的方法来配置并联作动器，以最大限度地提高整个工作空间的刚度。此外，它示出了如何使用相同的技术来优化设备的特定任务，如在矢状面提升。
The purpose of this work is to optimize the stiffness of a novel parallel-actuated robotic exoskeleton designed to offer a large workspace. This is done in an effort to help provide a solution to the issue wearable parallel actuated robots face regarding a tradeoff between stiffness and workspace. Presented in the form of a shoulder exoskeleton, the device demonstrates a new parallel architecture that can be used for wearable hip, ankle and wrist robots as well. The stiffness of the architecture is dependent on the placement of its actuated substructures. Therefore, it is desirable to place these substructures effectively so as to maximize dynamic performance for any application. In this work, an analytical stiffness model of the device is created and validated experimentally. The model is then used, along with a method of bounded nonlinear multi-objective optimization to configure the parallel actuators so as to maximize stiffness for the entire workspace. Furthermore, it is shown how to use the same technique to optimize the device for a particular task, such as lifting in the sagittal plane.