Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks
Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks
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DOI：
10.1115/1.4045688
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发表时间：
2020-08-01
影响因子：
2.6
通讯作者：
Song, Yun Seong
中科院分区：
文献类型：
--
作者：
Regmi, Sambad;Song, Yun Seong
我们提出了一种新的设计方法，该方法适合设计用于地面物理交互的物理交互式机械臂。设计这样的机械臂与现有的用于一般操作的机械臂不同，提出了各种独特的要求，例如能够在工作空间内的每个点产生所需的力和/或具有低的内在机械阻抗。我们的设计方法确定了这些需求，并将其分类为机器人的运动学和动力学特性，然后确保在设计早期满足这些独特的考虑因素。通过对所设计机器人的数学仿真，分析了机器人执行此类任务的能力，并对其动态特性进行了讨论。利用我们提出的方法，可以保证机器人手臂与人进行各种地面交互任务。
We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing robotic arms, which are used for general manipulation, such as being able to generate required forces at every point inside the workspace and/or having low intrinsic mechanical impedance. Our design method identifies these requirements and categorizes them into kinematic and dynamic characteristics of the robot and then ensures that these unique considerations are satisfied in the early design phase. The robot's capability for use in such tasks is analyzed using mathematical simulations of the designed robot, and discussion of its dynamic characteristics is presented. With our proposed method, the robot arm is ensured to perform various overground interactive tasks with a human.