On the feasibility and suitability of MR and ER based actuators in human friendly manipulators
On the feasibility and suitability of MR and ER based actuators in human friendly manipulators
复制标题
基于MR和ER的执行器在人类友好机械臂中的可行性和适用性
DOI：
10.1109/iros.2009.5354034
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
M. Kermani
中科院分区：
文献类型：
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作者：
Alexander S. Shafer;M. Kermani
几十年来，机器人行业一直假设出现一种能够安全地与人类互动的新型操纵器。将机器人融入人类环境始终面临着一系列独特的挑战。人们最关心的始终是人类同事的安全。为了确保其安全性，人们希望设计具有本质安全特性的机械手。具体而言，它是注意到，现代的“人类安全”的机械手是成功的，如果他们已经最大限度地减少了他们的重量和反射致动器惯性。实现这一目标的领先研究依赖于复杂的驱动系统。这种系统通常遭受性能下降和开发成本高的问题。磁流变液和电流变液是一类在外加磁场的影响下能够瞬时可逆地改变其流变特性的智能材料。已知用这种流体开发的装置具有优于常规伺服系统的上级扭矩-惯性特性。此外，它们简单的机械构造表明，可以以较低的成本开发使用这种装置的操纵器。在本文中，我们将讨论的潜在好处流变液可以带来的领域，人类友好的机械手。
For several decades now, the robotics industry has postulated the emergence of a new breed of manipulators capable of safely interacting with humans. The integration of robots into human environments has always possessed a unique set of challenges. The primary concern has always been for the safety of the human coworkers. Insuring their safety has led to the desire to design manipulators with intrinsic safety characteristics. Specifically, it is noted that modern ‘human-safe’ manipulators are successful if they have minimized both their weight and reflected actuator inertia. The leading research accomplishing this relies on complex actuation systems. Such systems commonly suffer from degraded performance and high cost of development. Magneto- and Electro-Rheological fluids are a class of smart-materials that can instantaneously, and reversibly alter their rheological properties under the influence of an applied field. Devices developed with such fluids are known to possess superior torque-to-inertia characteristics over conventional servo systems. Moreover, their simple mechanical construction suggests that manipulators using such devices could be developed at a lower cost. In this paper, we will discuss the potential benefits rheological fluids can bring to the field of human friendly manipulators.