肌腱驱动机构可变传动的概念

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677459

Hyunki In, Kyu-Jin Cho

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引用次数: 1

摘要

变速器决定被驱动部分相对于执行器的速度和力。由于传动比一般是固定的，因此从动部分的速度和力是一种权衡关系。本文提出了一种变力臂机构，以改变锚链的传动比。导线对接头的力臂随导线张力的增大而变化。通过静力分析，验证了机构的运动和受力特性。仿真结果表明，在相同作动器的情况下，采用该机构的旋转关节比传统的旋转关节旋转速度更快，产生的力更大。

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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Concept of variable transmission for tendon driven mechanism

The transmission determines the speed and force of the driven part with respect to the actuator. Because the transmission ratio is generally fixed, the velocity and force of the driven part are in trade off relationship. In this paper, to vary the transmission ratio of the tendon driven links, variable moment arm mechanism is proposed. The moment arm of the wire to the joint is changed according to the increase of the tension of the wire. By the static analysis, the motion and force characteristics of the mechanism is verified. Simulation results show that the rotational joint with the mechanism can rotates faster and generates larger force compared with conventional rotational joints while same actuator is used.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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