面向夹持机构的紧凑型串联弹性力控驱动器设计与试验  

Design and Test of Compact Series Elastic Force Actuator for Grasping Mechanism

作　　者：华洪良 廖振强[2] 陈勇将[1] 徐诚[2] HUA Hongliang;LIAO Zhenqiang;CHEN Yongjiang;XU Cheng(School of Aeronautics and Mechanical Engineering,Changzhou Institute of Technology,Changzhou 213032,China;School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]常州工学院航空与机械工程学院,常州213032 [2]南京理工大学机械工程学院,南京210094

出　　处：《农业机械学报》2021年第12期426-432,442,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51676099);江苏省高校面上项目(20KJB460023)。

摘　　要：串联弹性驱动器力控性能优异,在机器人无损抓持应用领域具有较好的应用前景。设计一种集成伺服电机、弹性元件、编码器等部件的高度紧凑型串联弹性驱动器。采用试验手段对串联弹性驱动器进行模型辨识,获得控制角度轨迹与驱动力观测模型,并通过PD控制器实现力控。通过刚性与超弹性物体力控加载试验,研究串联弹性驱动器力控响应与误差特性。通过物体自适应抓持与人机交互试验分析串联弹性驱动器力控自适应抓持与外力自感知特性。试验结果表明,串联弹性驱动器对刚性物体加载控制较快,力控稳态时间约0.35 s,且无超调出现。由于超弹性物体变形迟滞特性,其力控响应时间显著高于刚性物体。串联弹性驱动器力控模式能够实现物体自适应抓持,且抓持力度与速度可调。串联弹性驱动器可在不依赖指尖力传感器的情况下实现抓持力感知,有利于简化硬件与控制系统。Series elastic actuators(SEA)have great potential in robotic non-destructive grasping field due to its excellent force control performance.To achieve miniaturizing of the SEA,a highly compact series elastic actuator integrating servo motor,elastic element and encoder was developed.Firstly,model identification experiment of the series elastic actuator was carried out to establish the control angle trajectory actuating force observation models.Then the PD controller was utilized to control the actuating force.Subsequently,loading tests based on the rigid and hyperelastic objects were performed to study the control response,accuracy and steady-state fluctuation error of the actuating force.Finally,grasping and human interaction experiments were performed to study the adaptive grasping performance and external force self-sensing ability of the series elastic actuator.Results revealed that the series elastic actuator had a fast response speed in interacting with the rigid objects.The corresponding settling time and overshoot were about 0.35 s and 0,respectively.Due to the nonlinear deformation characteristics of hyperelastic object,its loading response speed was smaller than that of the rigid one.Grasping experiments demonstrated that the SEA could achieve object grasping adaptively,and the grasping force and speed were adjustable.In addition,the SEA could realize self-perception of the grasping force without relying on fingertip force sensor,which was conducive to simplify the hardware and control system.

关 键 词：串联弹性驱动器 力控制 感知 夹持机构 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]