Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2024-12-24 DOI:10.1109/LRA.2024.3521682

Jayant Unde;Jacinto Colan;Yasuhisa Hasegawa

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Abstract

This letter introduces a novel linear actuator with a high extension ratio, achieved through a unique planar transforming linkage mechanism (TLM) that serves as an articulated lead screw. This mechanism forms a rigid beam when extended and compactly coils when not in use, eliminating the need for an interlocking mechanism and thereby enhancing durability and reducing maintenance costs. The paper also discusses the comprehensive design of the linear actuator, including the articulated lead screw and driving transformation mechanism, leveraging the kinematic properties of the planar TLM. A proof-of-concept prototype is manufactured and assessed for its load capacity, accuracy, repeatability, and efficiency. Unlike conventional actuators constrained by a lower extension ratio, the proposed actuator's compactness and transverse load resilience make it ideal for space-constrained applications such as medical devices, space robotics, and factory automation. Overall, the proposed linear actuator represents a significant advancement in the field of linear actuators and has the potential to enable a wide array of applications that were previously unfeasible with conventional designs.

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由转换连杆机构实现的新型铰接丝杠直线执行机构

本文介绍了一种具有高延伸比的新型线性执行器，该执行器通过独特的平面变换连杆机构（TLM）实现，该机构可作为铰接丝杠。该机构在伸展时形成刚性梁，在不使用时形成紧凑的线圈，消除了对联锁机构的需求，从而提高了耐用性并降低了维护成本。利用平面TLM的运动特性，对直线执行机构进行了综合设计，包括铰接丝杠和驱动变换机构。制造概念验证原型并评估其负载能力，准确性，可重复性和效率。与受较低延伸比限制的传统执行器不同，所提出的执行器的紧凑性和横向负载弹性使其成为空间受限应用的理想选择，如医疗设备，空间机器人和工厂自动化。总体而言，所提出的线性执行器代表了线性执行器领域的重大进步，并且有可能实现以前传统设计无法实现的广泛应用。

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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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.