论文标题
高速机器人接触任务的基于弯曲的环境合规性
Flexure-based Environmental Compliance for High-speed Robotic Contact Tasks
论文作者
论文摘要
物理合规性的设计 - 其位置，学位和结构 - 会影响机器人性能和稳健性。虽然合规性通常用于机器人的关节，法兰或最终效应器，但本文提出了符合环境中的符合性结构，可以安全且稳健的接触，同时保持高运动控制带宽度和高阻抗机器人的精度。在这里，通过弯曲和粘弹性材料实现了合规性，这些材料与几种机制集成在一起，以提供结构化的合规性，例如远程合规性中心。使用融合沉积建模的增材制造，可更快地设计迭代和与标准工业设备的低成本集成。分析确定并与实验结果进行比较，包括总刚度矩阵，刚度比和旋转精度，包括总刚度矩阵，刚度比和旋转精度。在高速汇编任务中对三个远程合规性（RCC）设备和1DOF线性设备进行了原型和测试。
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes compliant structures in the environment, allowing safe and robust contact while keeping the higher motion control bandwidth and precision of high impedance robots. Compliance is here realized with flexures and viscoelastic materials, which are integrated to several mechanisms to offer structured compliance, such as a remote center of compliance. Additive manufacturing with fused deposition modeling is used, allowing faster design iteration and low-cost integration with standard industrial equipment. Mechanical properties, including the total stiffness matrix, stiffness ratio, and rotational precision, are analytically determined and compared to experimental results. Three remote center of compliance (RCC) devices and a 1-DOF linear device are prototyped and tested in high-speed assembly tasks.
