A Compact, Cable-driven, Activatable Soft Wrist with Six Degrees of Freedom for Assembly Tasks
A Compact, Cable-driven, Activatable Soft Wrist with Six Degrees of Freedom for Assembly Tasks
复制标题
紧凑、电缆驱动、可激活的软腕，具有六个自由度，可完成组装任务
DOI：
10.1109/iros45743.2020.9341487
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Yoshihisa Ijiri
中科院分区：
文献类型：
--
作者：
Felix von Drigalski;Kazutoshi Tanaka;Masashi Hamaya;Robert Lee;Chisato Nakashima;Yoshiya Shibata;Yoshihisa Ijiri
物理柔软性已经被提出来吸收与机器人或其工件建立接触时的冲击，以放松控制要求并提高组装和插入任务的性能。以前的工作主要集中在特殊的末端执行器解决方案，孤立的任务，如钉孔任务。然而，由于许多机器人任务需要刚性机器人的精度，并且当简单地增加柔度时，它们的性能会降低，因此难以在真实的应用中利用物理柔软性。可以在软模式和刚性模式之间切换的手腕可以解决这个问题，但是具有足够强度的致动器用于这种状态转换会增加模块的尺寸和重量，并减少机器人的有效载荷。为了解决这个问题，我们提出了一种新的设计的软模块组成的电缆驱动机构，它允许机器人末端执行器之间的软和刚性模式的变化，同时非常紧凑和轻。该模块有效地结合了柔性和刚性机器人的优点，可以改造现有的机器人和夹具，同时保持机器人系统的特性。我们评估我们提出的设计的有效性，通过实验建模装配任务，并定量研究设计参数。
Physical softness has been proposed to absorb impacts when establishing contact with a robot or its workpiece, to relax control requirements and improve performance in assembly and insertion tasks. Previous work has focused on special end effector solutions for isolated tasks, such as the peg-in-hole task. However, as many robot tasks require the precision of rigid robots, and their performance would degrade when simply adding compliance, it has been difficult to take advantage of physical softness in real applications. A wrist that could switch between soft and rigid modes could solve this problem, but actuators with sufficient strength for this state transition would increase the size and weight of the module and decrease the payload of the robot. To solve this problem, we propose a novel design of a soft module consisting of a cable-driven mechanism, which allows the robot end effector to change between soft and rigid mode while being very compact and light. The module effectively combines the advantages of soft and rigid robots, and can be retrofitted to existing robots and grippers while preserving the characteristics of the robotic system. We evaluate the effectiveness of our proposed design through experiments modeling assembly tasks, and investigate design parameters quantitatively.