Actuator with Non-Linear Elastic System(ANLES) and Stiffness Control of Multi-DOC Joint usingANLES

具有非线性弹性系统 (ANLES) 的执行器以及使用 ANLES 的多 DOC 关节刚度控制

• 批准号: 18560258
• 负责人: KOGANEZAWA Koichi
• 金额: $ 2.47万
• 依托单位: Tokai University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2006
• 资助国家: 日本
• 起止时间: 2006 至 2007
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18560258/
• 关键词: Non-linear elasticity; Antagonistic driving; Stiffness control; 拮抗駆動; 非線形弾性特性

This study deals with mechanical stiffness control of multi-DOF joint. It fundamentally mimics the skeleto-muscular system of human articulation, in which at least two muscles handle one rotary axis under their antagonistic (counteractive) action.In the years before the research period of the grant we have developed basic formula for controlling the multi-DOF rotary joint that is assumed to be driven by a couple of novel actuators that are called ANLES (Actuator with Non-Linear Elastic System). It mimics a skeletal muscle in the sense of having a non-linear elasticity. Next in the, research period of the grunt we developed the structure of the ANLES and constructed the three DOF wrist joint for an anthropomorphic robot that is controlled by four ANLES. The experimental results of controlling the stiffness of the joint reveal that the joint angle and the joint stiffness can be independently controlled successfully by the proposed mechanism and the proposed formula.

这项研究涉及多多道关节的机械刚度控制。它从根本上模仿了人类关节的骨架肌肉系统，其中至少有两个肌肉在其拮抗（反激活）动作下处理一个旋转轴。它在具有非线性弹性的意义上模仿了骨骼肌。接下来，在咕unt的研究期间，我们开发了大动脉的结构，并为由四个Anles控制的拟人型机器人构建了三个DOF腕关节。控制关节刚度的实验结果表明，关节角度和关节刚度可以通过所提出的机制和所提出的公式成功控制。

项目成果

Antagonistic Control of Multi-DOF Joint Using the Actuator with Non-Linear Elasticity

非线性弹性执行器的多自由度关节对抗控制

• 发表时间: 2006
• 期刊: Proceedings of the 2006 IEEE International Conference on Robotics and Automation
• 作者: K.Koganezawa;T.Nakazawa;T.Inaba
• 通讯作者: T.Inaba

Posture control of redundant manipulators based on the stiffness optimization on task space

基于任务空间刚度优化的冗余机械臂姿态控制

• 发表时间: 2007
• 期刊: Proceedings of the 2007 IEEE International Conference on Robotics and Automation
• 作者: K.Koganezawa;T.Nakazawa
• 通讯作者: T.Nakazawa

非線形弾性機構及びロボット用関節機構

机器人非线性弹性机构和关节机构

• 发表时间: 2006

Novel Mechanism of Artificial Finger

人造手指新机制

• 发表时间: 2007
• 期刊: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics
• 作者: K.Koganezawa;Y.Ishizuka
• 通讯作者: Y.Ishizuka

非線形弾性要素を有するアクチュエータ(ANLES)を用いた拮抗駆動型関節の剛性および姿勢制御

使用非线性弹性元件 (ANLES) 执行器的对抗驱动关节的刚度和姿态控制

• 发表时间: 2007
• 作者: 雨宮 雅樹;小金澤 鋼一
• 通讯作者: 小金澤 鋼一