Design and Workspace Characterisation of Malleable Robots
Design and Workspace Characterisation of Malleable Robots
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DOI：
10.1109/icra40945.2020.9197439
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发表时间：
2020-03
期刊：
影响因子：
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通讯作者：
A. B. Clark;Nicolás Rojas
中科院分区：
文献类型：
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作者：
A. B. Clark;Nicolás Rojas
对于传统串行机器人手臂执行的大多数任务，例如箱子拾取或拾取和放置，仅需要两个或三个自由度（DOF）用于运动;然而，通过增加自由度的数量，可以实现机器人手臂用于多个任务的进一步灵活性。代替增加机器人的关节的数量以提高灵活性和适应性，这增加了整个系统的控制复杂性、重量和成本，可延展机器人在关节之间利用可变刚度连杆，允许连杆的每个端部处的转动对的相对定位变化，从而使得低DOF串联机器人能够通过改变其工作空间来适应任务。本文提出了一种二自由度柔性机器人的设计和样机制作方法，采用一种适用于变拓扑机器人手臂的基于距离几何的参数化方法，计算了其工作空间的一般方程，并通过重构确定了机器人末端执行器可跟踪的工作空间类别。通过设计和建造的可塑性机器人，我们探讨设计的考虑因素，并证明整体概念的可行性。通过使用物理机器人上的运动跟踪，我们展示了无限数量的例子，介绍了2自由度可塑性机器人可以实现。
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom, further dexterity of robot arms for multiple tasks can be achieved. Instead of increasing the number of joints of a robot to improve flexibility and adaptation, which increases control complexity, weight, and cost of the overall system, malleable robots utilise a variable stiffness link between joints allowing the relative positioning of the revolute pairs at each end of the link to vary, thus enabling a low DOF serial robot to adapt across tasks by varying its workspace. In this paper, we present the design and prototyping of a 2-DOF malleable robot, calculate the general equation of its workspace using a parameterisation based on distance geometry—suitable for robot arms of variable topology, and characterise the workspace categories that the end effector of the robot can trace via reconfiguration. Through the design and construction of the malleable robot we explore design considerations, and demonstrate the viability of the overall concept. By using motion tracking on the physical robot, we show examples of the infinite number of workspaces that the introduced 2-DOF malleable robot can achieve.