Cable-Driven Actuation for Highly Dynamic Robotic Systems
Cable-Driven Actuation for Highly Dynamic Robotic Systems
复制标题
高动态机器人系统的电缆驱动驱动
DOI：
10.1109/iros.2018.8593569
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Marco Hutter
中科院分区：
文献类型：
--
作者：
Jemin Hwangbo;Vassilios Tsounis;H. Kolvenbach;Marco Hutter
本文介绍了一种铰接式机械臂卡普勒腿的设计和实验评价。Capler-Leg的关键部件是单级索轮传动与高间隙半径电机的结合。我们的电缆滑轮系统设计得尽可能轻，并且作为主要冷却元件，从而显著提高了整个系统的功率密度和效率。腿上的活动元件，即定子和转子的总重量占腿总重量的60%以上，这比大多数现有机器人高一个数量级。由此产生的机器人腿具有低惯性，高扭矩透明度，低制造成本，无反弹，零件数量少。Capler-Leg系统本身作为实验装置，用于评估所提出的电缆滑轮设计的稳健性和效率。连续跳变实验表明，在电池输出处测得的回收率达到了惊人的96.5%。这意味着在起飞过程中输出的几乎所有机械能都会在着陆时返回到电池中。
This paper presents the design and experimental evaluations of an articulated robotic limb called Capler-Leg. The key element of Capler-Leg is its single-stage cable-pulley transmission combined with a high-gap radius motor. Our cable-pulley system is designed to be as light-weight as possible and to additionally serve as the primary cooling element, thus significantly increasing the power density and efficiency of the overall system. The total weight of active elements on the leg, i.e. the stators and the rotors, contribute more than 60 % of the total leg weight, which is an order of magnitude higher than most existing robots. The resulting robotic leg has low inertia, high torque transparency, low manufacturing cost, no backlash, and a low number of parts. The Capler-Leg system itself, serves as an experimental setup for evaluating the proposed cable-pulley design in terms of robustness and efficiency. A continuous jump experiment shows a remarkable 96.5 % recuperation rate, measured at the battery output. This means that almost all the mechanical energy output during push-off is returned back to the battery during touch-down.