高透明ロボット運動のためのケーブル駆動ローリングダイアフラム伝達機構の設計と力学
Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion
ケーブル駆動とローリングダイアフラムを組み合わせた同軸対向型伝達機構を設計し、力平衡やケーブル張力維持、伝達圧力と軸受荷重の分離を実現する機構を提案。システム剛性分析と試作機実験で性能を検証した。
著者: Hoi Man Lam, W. Jared Walker, Lucas Jonasch, Dimitri Schreiber, Michael C. Yip
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However, the stiffness-enabling pressure preloads can form a tradeoff against bearing loading in some rolling diaphragm layouts, and transmission setup can be difficult. Utilization of cable drives compliment the rolling diaphragm transmission's advantages, but maintaining cable tension is crucial for optimal and consistent performance. In this paper, a coaxial opposed rolling diaphragm layout with cable drive and an electronic transmission control system are investigated, with a focus on system reliability and scalability. Mechanical features are proposed which enable force balancing, decoupling of transmission pressure from bearing loads, and maintenance of cable tension. Key considerations and procedures for automation of transmission setup, phasing, and operation are also presented. We also present an analysis of system stiffness to identify key compliance contributors, and conduct experiments to validate prototype design performance.
