Object grasping using a 1 DOF variable stiffness gripper actuated by a hybrid variable stiffness actuator
Object grasping using a 1 DOF variable stiffness gripper actuated by a hybrid variable stiffness actuator
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使用由混合可变刚度执行器驱动的 1 DOF 可变刚度夹具抓取物体
DOI：
10.1109/icra.2011.5979864
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Jae
中科院分区：
文献类型：
--
作者：
Byeong;Jae
对于需要机器人与环境交互的任务，柔顺运动是确保稳定接触和操作安全的重要因素。柔性驱动器如串联弹性驱动器和变刚度驱动器(VSA)有望成为提供柔性运动的最有前途的解决方案之一。在本文中，我们提出了一种由我们先前工作中开发的混合式变刚度执行器来驱动的夹持器，以展示变速变刚度如何提高抓取能力。该夹持器配备了两个对称的四杆机构，可以同时进行位置和刚度控制，抓取力可以由HVSA的估计扭矩计算出来。HVSA驱动的夹持器能够以柔顺的运动抓取易碎物体，以及以刚性运动抓取相对较重的物体。此外，变刚度的特点通过根据任务调整刚度来提供操作安全性。通过分析关节扭矩与抓持力、关节刚度与笛卡尔刚度之间的关系来控制抓持力。一系列实验表明，该夹持器可以抓取鸡蛋、酒杯等易碎物体，以及相对较重的物体，而不需要任何软盖和力/扭矩传感器。
For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion. In this paper, we propose a gripper actuated by the hybrid variable stiffness actuator developed in our previous work to show how the VSA can improve the ability of grasping. The gripper, which is equipped with two symmetric 4-bar linkages, can conduct the position and stiffness control simultaneously, and the grasping force can be calculated by the estimated torque of the HVSA. The HVSA-actuated gripper is able to grasp fragile objects with compliant motion and the relatively heavy object with stiff motion. Furthermore, the features of the variable stiffness provide operational safety by adjusting the stiffness according to the task. In this study, the relationships between the joint torque and the grasping force, and between the joint stiffness and the Cartesian stiffness are analyzed to control the grasping force. From a series of experiments, it is shown that the gripper can grasp fragile objects such as an egg and a wine glass, as well as relatively heavy object without any soft cover and force/torque sensor.