Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle
Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle
复制标题
可变压力角凸轮补偿弹簧变形的内平衡位移力转换器
DOI：
10.1109/lra.2021.3060383
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发表时间：
2021
影响因子：
5.2
通讯作者：
Tadokoro Satoshi
中科院分区：
文献类型：
--
作者：
Shimizu Tori;Tadakuma Kenjiro;Watanabe Masahiro;Takane Eri;Konyo Masashi;Tadokoro Satoshi
驱动机构所需的力可以通过在相反方向上增加等效载荷来补偿。通过反转负载补偿的输入和输出，我们提出了位移-力转换器的概念，使弹性元件的变形可以通过最小的外力无级控制。它的原理在我们以前的研究中得到了证实，但由于使用了钢丝和滑轮，出现了挑战。在这里，我们介绍了一种新的补偿方法，该方法使用一个非圆凸轮，该凸轮由于从动件的接触力而产生补偿力矩，该补偿力矩被旋转时变化的压力角在凸轮切向上分割。使用样机进行概念验证，成功地将弹簧伸展所需的最大控制力降低了23.2%。此外，拉伸和压缩之间的作用力是一致的，相对于压缩，两者之间的差异从543%下降到49%。因此，可以选择需要较少功率的致动器和电流电源。此外，将原型模型作为钢丝张紧器加入到柔性机器人夹持器的变刚度机构中，以显示位移-力转换器的可扩展性。
The force required to drive a mechanism can be compensated by adding an equivalent load in the opposite direction. By reversing the input and output of the load compensation, we proposed the concept of a displacement-force converter that enables the deformation of the elastic element to be controlled steplessly by a minimal external force. Its principle was proved in our previous study, but challenges arose owing to the use of a wire and pulley. Here, we introduce a new compensation method using a noncircular cam that generates a compensation torque due to the contact force from the follower, which is split in the tangential direction of the cam by the pressure angle varying at rotation. Using a prototype for proof of concept, the maximum control force required for the extension of the spring was successfully reduced by 23.2%. Furthermore, uniform forces were obtained between extension and compression so that the difference between them decreased from 543% to 49% relative to compression. Thus, actuators and current supplies requiring less power could be selected. Moreover, the prototype model was incorporated into a variable stiffness mechanism of a soft robotic gripper as a wire tensioner to show the expandability of the displacement-force converter.