FAS A flexible antagonistic spring element for a high performance over
FAS A flexible antagonistic spring element for a high performance over
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FAS 一种灵活的对抗弹簧元件，可实现高性能
DOI：
10.1109/iros.2011.6094569
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
M. Grebenstein
中科院分区：
文献类型：
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作者：
W. Friedl;Maxime Chalon;J. Reinecke;M. Grebenstein
在机器人手中，肌腱驱动系统的设计已被考虑多年。主要优点是末端执行器惯性小，例如由于远程执行器，手轻而小，具有高动态性。为了保护执行器免受未知环境中的影响，可以使用顺应机制。它在撞击过程中吸收能量或节省能量以增强关节动力。本文提出了一种拮抗肌腱机制。它可在 DLR 手臂系统前臂中安装 38 次，并能够适应不同的手指关节和不同的肌腱长度。开发了一种磁传感器来测量肌腱的力。最后，通过一组实验证明了校准和鲁棒性。
In robotic hands design tendon driven systems have been considered for years. The main advantage is a small end effector inertia e.g. a light, small hand with high dynamics due to remote actuators. To protect the actuators from impact in unknown environments a compliant mechanism can be used. It absorbs energy during an impact or saves energy to enhance the joint dynamics. In this paper an antagonistic tendon mechanism is presented. It fits 38 times in the DLR Hand Arm System forearm and enables is adapted to the different finger joints and different tendon lengths. A magnetic sensor was developed for the force measurement of the tendons. Finally, the calibration and the robustness are demonstrated through a set of experiments.