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Design and experimental characterization of a high performance hydrostatic transmission for robot actuation
Meccanica ( IF 2.7 ) Pub Date : 2020-03-16 , DOI: 10.1007/s11012-020-01143-z
Marco Bolignari , Marco Fontana

This paper introduces a hydrostatic torque-transmission for robotic applications based on rolling diaphragm cylinders. The proposed design solution, that relies on a novel floating-cylinder architecture, can be effectively employed for the implementation of robots with actuators that are remotely located with respect to their kinematic structure, without sacrificing performance and controllability. A prototype of proposed system is designed and implemented to comply with requirements for the actuation of a robotic arm exoskeleton. Such a system brings together a set of interesting attributes such as an extremely low level of friction ( $$<0.8\%$$ < 0.8 % of rated torque), transparent torque transmission (with average errors in open-loop sinusoidal torque-tracking in the range of 0.2–0.4 Nm), high torque (in the range of $$30\hbox { Nm}$$ 30 Nm ), large force bandwidth (20–30 Hz), large range of motion ( $$>140^\circ$$ > 140 ∘ ), simple design, ease in assembling, low-cost, reduced encumbrance (compatible with the integration with robotic links) and lightweight. Additionally, we demonstrate that the presented system allows to integrate a very accurate pressure-based output torque estimation which can be employed to further improve the system performance without the use of strain-based load-cells.

中文翻译:

用于机器人驱动的高性能静液压传动装置的设计和实验表征

本文介绍了一种基于滚动隔膜气缸的机器人应用静液压扭矩传输。所提出的设计解决方案依赖于一种新颖的浮动气缸架构,可以有效地用于实施具有相对于其运动学结构远程定位的执行器的机器人,而不会牺牲性能和可控性。设计并实现了所提出系统的原型,以符合机械臂外骨骼驱动的要求。这样的系统汇集了一组有趣的属性,例如极低水平的摩擦($$<0.8\%$$ < 额定扭矩的 0.8%)、透明的扭矩传输(开环正弦扭矩跟踪中的平均误差)在 0.2–0.4 Nm 范围内),高扭矩(在 $30\hbox { Nm}$$ 30 Nm 范围内),大的力带宽(20-30 Hz),大范围的运动($$>140^\circ$$ > 140 ∘),简单设计,易于组装,低成本,减少负担(与机器人链接兼容)和重量轻。此外,我们证明了所提出的系统允许集成非常准确的基于压力的输出扭矩估计,该估计可用于在不使用基于应变的称重传感器的情况下进一步提高系统性能。
更新日期:2020-03-16
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