A Study on Tendon Controlled Wrist Mechanism with Nonlinear Spring Tensioner
A Study on Tendon Controlled Wrist Mechanism with Nonlinear Spring Tensioner
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非线性弹簧张紧器肌腱控制腕机构的研究
DOI：
10.7210/jrsj.11.1244
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
Hiroaki Kobayashi
中科院分区：
文献类型：
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作者：
K. Hyodo;Hiroaki Kobayashi
本文讨论了一种具有冗余肌肉（作动器）的机器人手腕机构的运动学和控制问题。冗余使我们能够减少机械反冲，避免接近零的肌腱力，其中控制精度下降，并调整机械顺应性。由于机械顺应性的可调节性，手腕可以很容易地适应多变的任务环境，并减少干扰引起的振动。另一方面，高对抗力和松弛导致系统不稳定。手腕有一个新的机构，以克服传统的肌腱控制机构的一些问题。也就是说，非线性弹簧张紧器（NST）被插入驱动路径中，以给予腕部比常规腱控制机构更大的机械顺应性调节能力。由于通过设置弹簧的位移可以容易地实现所需的机械柔量，因此控制器的负担变得非常小。因此，腕关节可以比传统的肌腱控制机构具有更小的刚度和更快的响应。实验结果表明，NST的肌腱控制手腕机构的效率。
This paper discusses kinematics and control problems of a robot wrist mechanism with redundant muscles (actuators) . The redundancy enables us to reduce mechanical backlash, avoid near zero tendon forces, where the control accuracy goes down, and adjust the mechanical compliance. Because of the adjustability of the mechanical compliance, the wrist can adapt itself to changeable task environments easily and reduce vibrations by disturbances. On the other hand, high antagonistic forces and slacks cause the system to be unstable.The wrist has a novel mechanism to overcome some problems in a conventional tendon-controlled mechanism. That is, nonlinear spring tensioners (NST) are inserted in a drive path to give the wrist more ability of adjustment of the mechanical compliance than a conventional tendon-controlled mechanism. Since desired mechanical compliance is easily realized by setting up the displacement of springs, the burden of controllers becomes very little. Therefore the wrist can perform with smaller stiffness and faster response than a conventional tendon-controlled mechanism.In this paper, a control strategy for this mechanism is also discussed. Experimental results are given to show the efficiency of the tendon-controlled wrist mechanism with NST.