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Tendon-Driven Manipulator Actuated by Magnetorheological Clutches Exhibiting Both High-Power and Soft Motion Capabilities

机译:由磁流变离合器驱动的腱驱动机械手,具有高功率和柔和运动能力

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Tendon-driven manipulators (TDMs) are capable of large workspaces and low link inertias in compact embodiments. However, as most TDMs are powered by electromechanical actuators, their performance is fundamentally limited by either the high output inertia of electric geared motors, or by the large volume and weight of direct-drive electric motors. To improve upon the conventional TDM designs, this paper presents a TDM actuated by magnetorheological (MR) clutches. The MR-TDM concept combines the advantages of lightweight electric geared motors with the high dynamic performance of MR clutches. The main objective of this paper is to investigate the overall performance of the MR-TDM and demonstrate its wide range of applications. Analytical studies show the higher open-loop natural frequency (60 Hz) and lower reflected output inertia of the MR-TDM compared to the TDM powered by traditional actuators. Furthermore, experiments with a 2-DOF MR-TDM prototype demonstrate the usefulness of the approach for a wide variety of tasks ranging from a soft and precise control to a high impulse response and fast trajectory tracking.
机译:在紧凑的实施例中,肌腱驱动的操纵器(TDM)具有较大的工作空间和较低的连杆惯性。但是,由于大多数TDM由机电致动器提供动力,因此其性能从根本上受到齿轮电动机的高输出惯量或直驱式电动机体积大,重量大的限制。为了改进传统的TDM设计,本文提出了一种由磁流变(MR)离合器驱动的TDM。 MR-TDM概念结合了轻型齿轮电动机的优点和MR离合器的高动态性能。本文的主要目的是研究MR-TDM的整体性能,并展示其广泛的应用范围。分析研究表明,与传统执行器驱动的TDM相比,MR-TDM的开环固有频率更高(60 Hz),反射输出惯性更低。此外,使用2-DOF MR-TDM原型进行的实验证明了该方法对于从软性和精确控制到高冲激响应和快速轨迹跟踪的各种任务的有用性。

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    《Mechatronics, IEEE/ASME Transactions on》 |2017年第1期|561-571|共11页
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  • 入库时间 2022-08-17 13:03:34

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