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首页> 外文期刊>IEEE Transactions on Robotics >A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human–Robot Interaction
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A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human–Robot Interaction

机译：用于直观的无传感器物理机器人相互作用的反向运动冗余（6 + 3） - 自由式混合并联机器人

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摘要

A novel backdrivable 3-[R(RR-RRR)SR] kinematically redundant (6+3)-degree-of-freedom (DOF) spatial hybrid parallel robot with revolute actuators is proposed for low-impedance physical human-robot interaction. The kinematic model is developed based on the constraint conditions of the robot. It is shown that the type II (parallel) singularities can be completely avoided, thereby yielding a very large translational and orientational workspace. A workspace analysis is presented in order to demonstrate the capabilities of the robot. Mechanisms are then introduced to use the redundant DOF of the robot to operate a gripper with the robot actuators, which are mounted on or close to the base, thus reducing the inertia of the moving parts. The architecture of the robot makes it possible to use direct drive motors, thereby making the robot easily backdrivable and allowing the use of a very simple and effective controller. A prototype of the robot is then designed and built and the large workspace of the robot as well as the effortless physical human-robot interaction are demonstrated. The controller of the robot is then described, including a position control mode and a control mode for physical interaction, which does not require the use of a force/torque sensor or joint torque sensors. Because of its backdrivability and low moving inertia, the robot is particularly well-suited for physical human-robot interaction, as demonstrated in the accompanying videos.
机译：提出了一种新颖的回收的3- [R（RR-RRR）SR]运动学上的冗余（6 + 3） - 自由度（DOF）具有旋转致动器的空间混合并联机器人，用于低阻抗物理人员机器人相互作用。基于机器人的约束条件开发了运动模型。结果表明，可以完全避免II型（并联）奇点，从而产生非常大的平移和方向工作空间。提出了工作区分析，以展示机器人的能力。然后引入机构以使用机器人的冗余DOF与机器人致动器一起操作夹具，该机器人致动器安装在基座上或靠近基座上，从而减少了移动部件的惯性。机器人的架构使得可以使用直接驱动电动机，从而使机器人容易地等离动并允许使用非常简单且有效的控制器。然后设计了机器人的原型，并制造了机器人的大工作空间以及毫不费力的物理人员机器人相互作用。然后描述机器人的控制器，包括位置控制模式和用于物理相互作用的控制模式，其不需要使用力/扭矩传感器或关节扭矩传感器。由于其等离感性和低移动惯性，机器人特别适合于物理人员机器人交互，如在随附的视频中所示。

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