Modeling, design, and experimental evaluation of rotational elastic joints for underactuated robotic fingers

U. Scarcia, G. Berselli, G. Palli, C. Melchiorri
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引用次数: 5

Abstract

In this paper, a novel 3D printed Rotational Joint (RJ) embedding an integrated elastic element is presented. The RJ, produced as a single piece by means of an FDM printer, comprises a traditional pin hinge coupled with a pair of spiral torsion springs, providing the desired compliance for the application at hand. Benefits of the proposed design include monolithic manufacturing and possibility to be successfully employed in robotic articulated devices requiring joint elasticity for their functioning. On the other hand, the sub-optimal RJ behavior, mainly caused by the unavoidable friction between 3D printed mating surfaces, must be accurately taken into account for design purposes. In this context, preliminary reliability tests have been performed showing promising results in terms of lifetime and negligible fatigue effects. Then, a mathematical model of the system is derived, which comprises the spring elasticity along with any frictional effects that may be due to either the pin hinge itself or the tendon transmission (frequently employed in underactuated robotic devices). The model parameters have been empirically evaluated by comparing simulated and experimental data. In addition, the last part of the paper describes how the proposed RJ can be effectively employed for the design of modular, underactuated fingers, providing three degrees of freedom and a single tendon transmission. To this end the model of the joint module proposed in this work will be the starting point for the geometry dimensioning of a finger with a desired free closure motion.
欠驱动机器人手指旋转弹性关节的建模、设计和实验评估
提出了一种嵌入集成弹性元件的3D打印旋转关节(RJ)。RJ是通过FDM打印机作为单个部件生产的,包括一个传统的销铰链和一对螺旋扭转弹簧,为手头的应用提供所需的顺应性。所提出的设计的好处包括单片制造和成功应用于需要关节弹性的机器人关节装置的可能性。另一方面,由于3D打印配合面之间不可避免的摩擦导致的次优RJ行为必须在设计时精确考虑。在这种情况下,已经进行了初步的可靠性测试,显示了在寿命和可忽略的疲劳影响方面有希望的结果。然后,导出了系统的数学模型,该模型包括弹簧弹性以及可能由于销铰链本身或肌腱传输(经常用于欠驱动机器人设备)引起的任何摩擦效应。通过对模拟数据和实验数据的比较,对模型参数进行了实证评估。此外,本文的最后一部分描述了所提出的RJ如何有效地用于模块化,欠驱动手指的设计,提供三个自由度和单个肌腱传输。为此,在这项工作中提出的关节模块模型将成为具有所需自由闭合运动的手指几何尺寸的起点。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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