VARIABLE RIGIDITY MODULAR JOINT FOR MANIPULATORS OF ROBOTIC SYSTEM
Abstract
The article considers the actuated joint designs with added elasticity and equipped with a mechanism for changing the value of this elasticity (adjustable stiffness) for robotic manipulators. To date, there are no workable joint actuators with variable stiffness (VSA) in Russia. At the same time, intensive research is being carried out around the world on various types of such joint actuators and manipulators based on them. Although until now all the products created have mostly been of an experimental and research nature, in the near future we can expect the appearance and implementation of prototypes of VSA to solve specific practical problems that make it possible to build manipulators with new qualities and improved technical characteristics. Such manipulators will be in demand when solving tasks related to contact operations that require increased accuracy, correctness and safety of execution, for example, in situations where a robot and a person are in a single operating space. The aim of the proposed study is to form a scientific and technical groundwork in the field of manipulator actuators design with adjustable stiffness in the form of developing methodological recommendations for designing VSAs for the required specific tasks and for using them as part of manipulation systems. To do this, at the initial stage of the study, the tasks of analyzing and systematizing the existing technical solutions for stiffness control mechanisms and constructing our own VSA for subsequent physical experiments are solved. To date, there are a huge number of different options for the implementation of VSAs, which have their own advantages for specific areas of application. There are no optimal devices for all types of tasks. Proceeding from this, it is proposed to conduct a study of VSAs in the three most perspective trends, in the opinion of the authors, using fundamentally different options for implementing the variable stiffness. The combination of completely different options within a single design is proposed to be implemented on the basis of a modular approach to constructing a research VSA, which makes it quite easy and without the use of any special tools to reconfigure the actuator joint from one option to another, using at the same time a number of common (typical) modules, which significantly saves resources for the development and study of such an actuator. The article provides a brief description of the design features of the proposed modular research VSA and stiffness control modules. The results obtained allow us to proceed to the stage of making a mockup VSA model and setting up physical experiments to study various types of VSAs.
References
production applications // 2020 IEEE 16th International Conference on Automation
Science and Engineering (CASE). – IEEE, 2020. – P. 1155-1160.
2. Sága M. [et al.]. Case study: Performance analysis and development of robotized screwing
application with integrated vision sensing system for automotive industry // International Journal
of Advanced Robotic Systems. – 2020. – Vol. 17, No. 3. – P. 1729881420923997.
3. Ott C. [et al.]. A humanoid two-arm system for dexterous manipulation // 2006 6th IEEE-RAS
international conference on humanoid robots. – IEEE, 2006. – P. 276-283.
4. Zhou L. [et al.]. A Novel Portable Lower Limb Exoskeleton for Gravity Compensation during
Walking // 2020 IEEE International Conference on Robotics and Automation (ICRA). – IEEE,
2020. – P. 768-773.
5. Zimmermann Y. [et al.]. ANYexo: A versatile and dynamic upper-limb rehabilitation robot //
IEEE Robotics and Automation Letters. – 2019. – Vol. 4, No. 4. – P. 3649-3656.
6. Jaekel S. [et al.]. Design and operational elements of the robotic subsystem for the e. deorbit debris
removal mission // Frontiers in Robotics and AI. – 2018. – Vol. 5. – P. 100.
7. AlAttar A., Rouillard L., Kormushev P. Autonomous air-hockey playing cobot using optimal
control and vision-based bayesian tracking // Annual Conference Towards Autonomous Robotic
Systems. – Springer, Cham, 2019. – P. 358-369.
8. Groothuis S.S., Stramigioli S., Carloni R. Lending a helping hand: Toward novel assistive robotic arms //
IEEE robotics & automation magazine. – 2013. – Vol. 20, No. 1. – P. 20-29.
9. Bicchi A. et al. Variable stiffness actuators for fast and safe motion control // Robotics research.
The eleventh international symposium. – Springer, Berlin, Heidelberg, 2005. – P. 527-536.
10. Albu‐Schäffer A. [et al.]. The DLR lightweight robot: design and control concepts for robots in
human environments // Industrial Robot: an international journal. – 2007.
11. Al-Shuka H.F.N. [et al.]. Active impedance control of bioinspired motion robotic manipulators:
An overview // Applied bionics and biomechanics. – 2018. – Vol. 2018.
12. Pratt G.A., Williamson M.M. Series elastic actuators // Proceedings 1995 IEEE/RSJ International
Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative
Robots. – IEEE, 1995. – Vol. 1. – P. 399-406.
13. Höppner H. Analysis of human intrinsic stiffness modulation and its use in variable-stiffness
robots: diss. – Technische Universität München, 2016.
14. Grebenstein M. The awiwi hand: An artificial hand for the dlr hand arm system // Approaching
Human Performance. – Springer, Cham, 2014. – P. 65-130.
15. Petit F. Analysis and control of variable stiffness robots: дис. – ETH-Zürich, 2014.
16. Morita T., Sugano S. Design and development of a new robot joint using a mechanical impedance
adjuster // Proceedings of 1995 IEEE International Conference on Robotics and Automation.
– IEEE, 1995. – Vol. 3. – P. 2469-2475.
17. Morita VOL., Sugano S. Development of an anthropomorphic force-controlled manipulator
WAM-10 // 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.
– IEEE, 1997. – P. 701-706.
18. Tonietti G., Schiavi R., Bicchi A. Design and control of a variable stiffness actuator for safe
and fast physical human/robot interaction // Proceedings of the 2005 IEEE international conference
on robotics and automation. – IEEE, 2005. – P. 526-531.
19. Wolf S., Hirzinger G. A new variable stiffness design: Matching requirements of the next robot
generation // 2008 IEEE International Conference on Robotics and Automation. – IEEE, 2008.
– P. 1741-1746.
20. Vanderborght B. [et al.]. Variable impedance actuators: A review // Robotics and autonomous
systems. – 2013. – Vol. 61, No. 12. – P. 1601-1614.
21. Grioli G. [et al.]. Variable stiffness actuators: The user’s point of view // The International
Journal of Robotics Research. – 2015. – Vol. 34, No. 6. – P. 727-743.
22. Wolf S. [et al.]. Variable stiffness actuators: Review on design and components // IEEE/ASME
transactions on mechatronics. – 2015. – Vol. 21, No. 5. – P. 2418-2430.
23. Sardellitti I. [et al.]. Gain scheduling control for a class of variable stiffness actuators based on
lever mechanisms // IEEE Transactions on Robotics. – 2013. – Vol. 29, No. 3. – P. 791-798.
24. Абсолютные преобразователи угловых перемещений (угловые абсолютные энкодеры).
ОАО «СКБ ИС» – URL: https://skbis.ru/catalog/rotary/absolute-rotary-encoders (дата обра-
щения: 08.02.2023).
25. FL70BL19 / Fulling Motor. – URL: https://fullingmotor.com/EN/product/proServoDetail.
aspx?mtt=551 (дата обращения: 08.02.2023).
26. Волновые редукторы Сервосила. – URL: https://www.servosila.com/ru/harmonic/index.shtml
(дата обращения: 08.02.2023).
27. Патент RU189796U1: МПК F16B7/02. Торцевой моментный электродвигатель.
СПбГМТУ. – Заявл. 2003122143/09, зарег.: 15.07.2003; Опубл.: 10.07.2005, Бюл. №19. /
Сеньков А.П., Сеньков А.А. – 12 с. – URL: https://patentimages.storage.googleapis.
com/6d/6e/dd/4ee1b882ffb214/RU2256276C2.pdf (дата обращения: 06.02.2023).
28. YASA P400 R Series. – URL: https://www.yasa.com/products/
yasa-p400/ (дата обращения: 06.02.2023).
29. P400R Electric Motors Product Sheet. – URL: https://www.yasa.com/wp-content/uploads/
2021/05/YASA-P400RDatasheet-Rev-14.pdf (дата обращения: 06.02.2023).
30. Phi-Range: A new generation of Axial Flux Motor. – URL: https://www.phi-power.com/
en/phi-power-motor-series/ (дата обращения: 06.02.2023).
