带球形滚轮和直径适应性的开放式肢上机器人运动机构

Machines Pub Date : 2024-07-04 DOI:10.3390/machines12070455
Luz M. Tobar-Subía-Contento, Anthony Mandow, J. Gómez-de-Gabriel
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摘要

可穿戴技术的迅猛发展提高了人们对身上机器人技术的研究兴趣,可移动机器人可作为触觉界面,支持医疗保健测量,或协助日常活动。然而,体上移动机器人技术在稳定运动和控制等方面存在挑战。本文提出了一种新颖的小型机器人设计,用于在人体肢体上移动,它由一个带有弹簧连杆的开放式抓取机构组成,其中一侧固定一个带有两个球形滚子的枢转差分驱动基座(PDDB),另一侧固定一个用于抓取和稳定的致动滚子。球形滚轮在肢体上的三个点保持接触,以最少的滚轮数量优化稳定性,并在内部集成直流电机。PDDB 滚轮(球形滚轮)可实现肢体表面的方向变化。开放式机构、PDDB 和球形滚轮的组合可适应肢体直径的变化。此外,该机构可在肢体的任意位置轻松安装或拆卸,无需将机器人滑过手部或脚部。已开发出拟议机构的运动学模型。提出了一种级联控制策略,外环用于稳定抓取,内环用于利用 PDDB 滚筒速度调整轨迹。我们制作了一个肢上机器人原型,以测试其对人类手臂的适用性。仿真和实验结果验证了该设计。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Open On-Limb Robot Locomotion Mechanism with Spherical Rollers and Diameter Adaptation
The rapid development of wearable technologies is increasing research interest in on-body robotics, where relocatable robots can serve as haptic interfaces, support healthcare measurements, or assist with daily activities. However, on-body mobile robotics poses challenges in aspects such as stable locomotion and control. This article proposes a novel small robot design for moving on human limbs that consists of an open grasping mechanism with a spring linkage, where one side holds a pivoting differential drive base (PDDB) with two spherical rollers, and the other side holds an actuated roller for grasping and stabilization. The spherical rollers maintain contact at three points on the limb, optimizing stability with a minimal number of rollers and integrating DC motors within. The PDDB wheels (spherical rollers) enable directional changes on limb surfaces. The combination of the open mechanism, the PDDB, and the spherical rollers allows adaptability to diameter variations along the limb. Furthermore, the mechanism can be easily put on or removed at any point along the limb, eliminating the need to slip the robot over the hand or foot. The kinematic model for the proposed mechanism has been developed. A cascade control strategy is proposed with an outer loop for stable grasping and an inner loop for trajectory adjustments using PDDB roller velocities. An on-limb robot prototype has been built to test its applicability to human arms. Simulation and experimental results validate the design.
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