论文标题
与触点的机器人任务的快速变速器执行器
A Fast Gear-Shifting Actuator for Robotic Tasks with Contacts
论文作者
论文摘要
车辆功率传输使用可变变速箱（多个齿轮比）来最大程度地降低电动机尺寸并最大化效率，同时达到了广泛的操作点。机器人可以同样受益于可变传输，以节省重量并提高能源效率；导致移动和可穿戴机器人系统的潜在开创性改进。但是，机器人环境中的可变传输导致有关齿轮转移方法的新挑战：1）需要减少比率的数量顺序变化，2）2）在需要换档时，操纵/运动任务期间的接触情况会导致冲动行为。本文介绍了一种具有齿轮转移方法的执行器，该方法可以在动态接触情况下在两个截然不同的还原比之间无缝地改变。实验结果表明，在与刚性物体接触时，可以从1:23降低到小于30ms的1：474降低齿轮的能力。
Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could similarly benefit from variable transmission to save weight and improve energy efficiency; leading to potentially groundbreaking improvements for mobile and wearable robotic systems. However, variable transmissions in a robotic context leads to new challenges regarding the gear-shifting methodology: 1) order-of-magnitude variations of reduction ratios are desired, and 2) contact situations during manipulation/locomotion tasks lead to impulsive behavior at the moment when gear-shifting is required. This paper present an actuator with a gear-shifting methodology that can seamlessly change between two very different reduction ratios during dynamic contact situations. Experimental results demonstrate the ability to execute a gear-shift from a 1:23 reduction to a 1:474 reduction in less than 30ms during contact with a rigid object.
