摘要
针对机械臂与环境间的交互性和安全性问题,设计一种新型串联弹性驱动器(series elastic actuator,SEA)。通过设计平面型扭转弹性元件替代传统弹簧,使得驱动器具有较高的集成度。弹性元件的引入降低了传动机构阻抗上限,增强了对外界环境的顺应能力。为了提高SEA速度控制精确度,提出采用BP神经网络控制的方法,通过补偿负载的重力等非线性特性,以实现基于SEA力矩控制模式下的稳定速度控制。实验结果验证了驱动器良好的速度跟随性和顺应性,实现了与环境之间的安全交互。这类驱动器在腿式机器人、外骨骼机器人和工业机械臂中有着良好的应用前景。
A novel series elastic actuator （SEA） was designed to implement physical human - robot inter- action by embedding a new torsional elasticity between the gear train and driven load which made the ac- tuator more integrated. The elasticity reduced the upper bound of impedance and enhanced the capacity while operating in constructed environment. In order to realize the stable velocity control of SEA, a BP neural network controller which can compensate nonlinear characteristics of the load gravity was pro- posed. Experiment results show that this actuator has great velocity control performance and its low im- pedance makes it possible to adapt to variable environments. This kind of actuator is desirable in many applications including legged robots, exoskeletons and industrial manipulators.
出处
《电机与控制学报》
EI
CSCD
北大核心
2015年第6期83-88,共6页
Electric Machines and Control
基金
国家自然科学基金(51405430
61473258)
浙江省自然科学基金(LQ12F03009)
