Criterion for the Design of Low-Power Variable Stiffness Mechanisms
Criterion for the Design of Low-Power Variable Stiffness Mechanisms
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DOI：
10.1109/tro.2017.2689068
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发表时间：
2017-05
影响因子：
7.8
通讯作者：
V. Chalvet;D. Braun
中科院分区：
文献类型：
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作者：
V. Chalvet;D. Braun
设计能够低功耗运行的机器人系统（其顺应驱动所固有的）在实际应用中一直难以实现。在本文中，我们提出了一种物理措施，以数学方式定义适合以低功耗实现刚度调制的机械设计。利用这种测量方法，我们提出了在运行过程中不受外部载荷影响的理想变刚度机构的数学公式。然后，我们分析文献中的几种现有机制，将设计特征与实际设计中低功率刚度调制固有的分析条件联系起来。通过这种分析，我们确定了理想执行器的近似实际实现，该执行器能够以固有的低功耗进行刚度调制。与许多现有的高效可变刚度机构类似，该机构能够在没有外部负载的情况下以零输入力保持给定的刚度设置。然而，与许多其他先前设计的机构不同，它可以使用有限的控制力实现无限范围的刚度调制。实用的可变刚度机构能够使用有限的控制力进行无限范围的刚度调制，从而降低电力成本并减少能耗。
Designing robotic systems capable of low-power operation, inherent to their compliant actuation, has been elusive in practical application. In this paper, we propose a physical measure to mathematically define mechanical designs that are suitable to realize stiffness modulation with low power cost. Using this measure, we present a mathematical formulation of an ideal variable stiffness mechanism unaffected by the external load during its operation. We then analyze several existing mechanisms from the literature to relate design features with analytical conditions inherent to low power stiffness modulation in practical designs. Through this analysis, we identify an approximate practical realization of an ideal actuator capable of stiffness modulation with inherently low power cost. Similar to a number of existing efficient variable stiffness mechanisms, this mechanism is able to hold a given stiffness setting with zero input force under no external load. However, unlike many other previously designed mechanisms, it enables infinite range stiffness modulation using finite control forces. A practical variable stiffness mechanism that is capable of infinite range stiffness modulation using finite control forces leads to lower power cost and reduced energy consumption.