Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation
Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation
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DOI：
10.1109/robot.2010.5509267
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发表时间：
2010-05
期刊：
影响因子：
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通讯作者：
Florian Petit;Maxime Chalon;W. Friedl;M. Grebenstein;A. Albu-Schäffer;G. Hirzinger
中科院分区：
文献类型：
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作者：
Florian Petit;Maxime Chalon;W. Friedl;M. Grebenstein;A. Albu-Schäffer;G. Hirzinger
变刚度驱动的概念被认为是提供一个人性化的机器人技术。本文探讨了关节的概念称为双向拮抗关节，这是一个扩展的拮抗关节。介绍了一种新的工作模式，称为帮助模式，它增加了关节载荷范围。虽然联合不能预紧的帮助模式，它表明，刚度变化是可能的，假设一个合适的扭矩刚度特性的弹性元件。沿着与几个例子的情况下解释的扭矩-刚度图的方法来设计这些特性。此外，刚度自适应控制方案，确保机构的安全性。最后，设计方法和控制进行评估的双向拮抗关节的实施。
The variable stiffness actuation concept is considered to provide a human-friendly robot technology. This paper examines a joint concept called the bidirectional antagonistic joint which is a extension of antagonistic joints. A new operating mode called the helping mode is introduced, which increases the joint load range. Although the joint can not be pretensioned in the helping mode, it is shown that a stiffness variation is possible, assuming a suitable torque-stiffness characteristic of the elastic elements. A methodology to design such characteristics is presented along with several example cases interpreted in a torque-stiffness plot. Furthermore, a stiffness adaptation control scheme which ensures mechanism safety is described. Finally, the design methodology and the control are evaluated on an implementation of a bidirectional antagonistic joint.