A Radial Crank-type Continuously Variable Transmission Driven by Two Ball Screws
A Radial Crank-type Continuously Variable Transmission Driven by Two Ball Screws
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两根滚珠丝杠驱动的径向曲柄式无级变速器
DOI：
10.1109/icra.2012.6224866
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Hiroya Yamada
中科院分区：
文献类型：
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作者：
椎尾 一郎;竹村 治雄;安村 通晃;荊 雷;程 子学;中村 明生;浅野 敏郎;小野口 一則;小室 孝;新倉 雄大;田中 博;飯村 伊智郎;福島 大志;宮崎 文夫;西川 敦;堀 潤一;高 トククン;板倉 直明;水戸 和幸;水野 統太 他;Hiroya Yamada
执行机构的功率重量比对于机器人，特别是移动机器人来说是极其重要的。电机与减速器的组合是机器人最常用的驱动机构，只要相对于负载适当地设计减速比，就可以在功率输出较大的区域利用电机。然而，在负载显著变化的应用情况下，电机必须在其功率输出显著下降的区域运行。这一问题制约了移动机器人，尤其是仿生机器人的能力。因此，本文主要研究无级变速器(CVT)。曲柄无级变速器已被用于机器人关节，但由于曲柄的死点，其主要缺点是运动范围有限。因此，本文提出了径向曲柄无级变速器(RC-CVT)，它通过增加驱动曲柄无级变速器的连杆数量来克服这种运动范围的限制。这种RC-CVT有希望成为一种高效的机器人关节，因为它可以利用滚珠丝杠。本文给出了RC-CVT的运动学和静力学方程，并描述了样机的设计和试验。并介绍了其在四足机器人中的应用。
Power-to-weight ratio of actuators is extremely important for robots, particularly mobile robots. The combination of electric motor and speed reducer, which is the most common driving mechanism for robots, can utilize the motor in the area where its power output is high when the reduction ratio is appropriately designed relative to the load. However, in the case of applications in which the load significantly changes, the motor has to be operated in the area where its power output significantly drops. This problem has restricted the capability of mobile robots, especially biologically inspired robots. Therefore in this paper I focus on a continuously variable transmission (CVT). Crank-type CVTs, which have been used for robotic joints, have the major disadvantage of a limited range of motion due to the dead point of the crank. Thus, this paper proposes the Radial Crank-type CVT (RC-CVT), which overcomes this limit of range of motion by increasing the number of links driving the crank of the CVT. This RC-CVT holds promise as an efficient robotic joint as it can utilize ball screws. This paper shows the equations of kinematics and statics of the RC-CVT and also describes the design and test of the prototype. The application to a quadruped robot is also introduced.