A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism
A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism
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DOI：
10.1115/1.4044067
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发表时间：
2019-10-01
影响因子：
2.6
通讯作者：
Ben-Tzvi, Pinhas
中科院分区：
文献类型：
--
作者：
Liu, Yujiong;Wang, Jiamin;Ben-Tzvi, Pinhas
本文介绍了一种基于新型缆索驱动万向节机构的新型机器人尾巴的研制。通过几何推理综合了该新型关节机构，实现了所期望的索长不变性，即在万向旋转下驱动索的长度保持恒定。这种特性是可取的，因为它允许双向拉动电缆，从而减少了必要的执行器数量。在获得这种新的关节机构后，设计并集成了一种执行机构较少、控制简单、结构鲁棒性更好的蛇形机器人尾巴。新的尾巴包括两个独立的宏观部分（每个2个自由度），以产生更复杂的形状（总共4个自由度），这有助于提高机器人的灵活性和多功能性。此外，由于关节轴垂直，尾翼俯仰弯曲和偏航弯曲被解耦。然后阐述了新型机器人尾巴的运动学建模、动力学建模和工作空间分析。通过静力学、动力学和灵巧性三个方面的实验，对该机构进行了验证，并对新型机器人尾巴的性能进行了评价。
This paper presents the development of a new robotic tail based on a novel cable-driven universal joint mechanism. The novel joint mechanism is synthesized by geometric reasoning to achieve the desired cable length invariance property, wherein the mechanism maintains a constant length for the driving cables under universal rotation. This feature is preferable because it allows for the bidirectional pulling of the cables which reduces the requisite number of actuators. After obtaining this new joint mechanism, a serpentine robotic tail with fewer actuators, simpler controls, and a more robust structure is designed and integrated. The new tail includes two independent macro segments (2 degrees of freedom each) to generate more complex shapes (4 degrees of freedom total), which helps with improving the dexterity and versatility of the robot. In addition, the pitch bending and yaw bending of the tail are decoupled due to the perpendicular joint axes. The kinematic modeling, dynamic modeling, and workspace analysis are then explained for the new robotic tail. Three experiments focusing on statics, dynamics, and dexterity are conducted to validate the mechanism and evaluate the new robotic tail's performance.