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A differential-based Parallel Force/Velocity Actuation concept: Theory and experiments.

机译：基于差分的平行力/速度致动概念：理论和实验。

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摘要

Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator (PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives.;Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call 'torque-limited' mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented.;The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets.
机译：如今，机器人正从其传统的狭窄栖息地（例如工厂车间）迁移到人类环境，在这些环境中，机器人可以与人们进行互动并进行互动。在这种人机交互系统中，对固有机械安全性的要求至关重要。我们提出了一种称为平行力/速度执行器（PFVA）的双执行器，它使用差速齿轮系将力执行器（FA）（低速输入）和速度执行器（VA）（高速输入）组合在一起。在这种布置中，可以通过限制FA上的扭矩并因此使其成为可反向驱动的输入来实现机械安全。此外，驱动器中的运动学冗余可用于控制输出速度，同时满足次级操作目标。;我们的研究重点是三个领域：（i）PFVA的可扩展参数设计，（ii）PFVA的分析模型和在单关节原型上进行的实验测试，以及（iii）PFVA驱动的串行机器人操纵器的广义模型公式。在我们的分析中，FA和VA之间的速度比之比称为相对比例因子，是纯粹的几何和主要设计参数。基于PFVA的无量纲参数设计（使用输入之间的功率流和负载分配），使用现成的商用组件设计并构建了原型。使用受控实验，我们的原型中发现了两个限制性能的现象，即两个输入之间的摩擦和动态耦合。进行了另外两个实验来表征执行器在速度模式和所谓的``转矩限制''模式下（即当FA输入可以反向驱动时）的操作性能。我们的理论和实验结果表明，由于FA的反向驱动能力，PFVA对缓慢的碰撞和撞击都是机械安全的。同样，我们表明，其运动学冗余可以有效地减轻齿轮机构中的低速摩擦和反冲。使用基于运动学影响系数的广义动态建模框架研究了执行器级分析和实验工作在系统级的含义。基于该动态模型，提出了针对PFVA驱动的串行平面3R机械手的三个设计案例研究。该研究的主要贡献包括（i）PFVA的六个基本设计和操作参数的数学模型和物理理解，在此基础上，提出了大约十项设计和五项操作指南，（ii）PFVA的机械安全特性及其运动学冗余的有效利用的分析和实验概念证明，（iii）表征特性的实验方法差分求和机制中输入之间的动态耦合；（iv）PFVA驱动的串行机器人操纵器的广义动态模型公式化，重点是FA和VA输入集之间的输出负载分配。

著录项

  • 作者

    Rabindran, Dinesh.;

  • 作者单位

    The University of Texas at Austin.;

  • 授予单位 The University of Texas at Austin.;
  • 学科 Engineering Mechanical.;Engineering Robotics.
  • 学位 Ph.D.
  • 年度 2009
  • 页码 302 p.
  • 总页数 302
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

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