Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
复制标题
减小冲击力与最大安全速度的权衡：变刚度机器人的动态参数优化
DOI：
10.1115/1.4046839
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发表时间：
2020-10
期刊：
影响因子：
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通讯作者：
Siyang Song;Y. She;Junmin Wang;H. Su
中科院分区：
文献类型：
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作者：
Siyang Song;Y. She;Junmin Wang;H. Su
可变刚度机器人可以提供一种在人机交互过程中平衡安全性和速度的有效方法。在这种折衷方案中，冲击力降低能力和最大安全速度是两个关键的性能指标。为了定量研究质量、惯性和刚度等动态参数如何影响这两个性能指标，本文基于冲击椭球体提出了变刚度机器人的冲击力减小能力和最大速度的性能指标。所提出的性能指标在很大程度上考虑了不同的冲击方向和运动学配置。结合这两个性能指标，定义了变刚度机器人的全局性能。设计了两步优化方法来实现这种全局性能。提供了一个两连杆变刚度连杆机器人的例子来展示该方法的有效性。
Variable stiffness robots may provide an effective way of trading-off between safety and speed during physical human–robot interaction. In such a compromise, the impact force reduction capability and maximum safe speed are two key performance measures. To quantitatively study how dynamic parameters such as mass, inertia, and stiffness affect these two performance measures, performance indices for impact force reduction capability and maximum speed of variable stiffness robots are proposed based on the impact ellipsoid in this paper. The proposed performance indices consider different impact directions and kinematic configurations in the large. Combining the two performance indices, the global performance of variable stiffness robots is defined. A two-step optimization method is designed to achieve this global performance. A two-link variable stiffness link robot example is provided to show the efficacy of the proposed method.