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串联弹性驱动器设计、建模及在机器人上的应用

孙宁 程龙

孙宁,  程龙.  串联弹性驱动器设计、建模及在机器人上的应用.  自动化学报,  2021,  47(7): 1467−1483 doi: 10.16383/j.aas.c200202
引用本文: 孙宁,  程龙.  串联弹性驱动器设计、建模及在机器人上的应用.  自动化学报,  2021,  47(7): 1467−1483 doi: 10.16383/j.aas.c200202
Sun Ning,  Cheng Long.  Design and modeling of series elastic actuators with applications in robot.  Acta Automatica Sinica,  2021,  47(7): 1467−1483 doi: 10.16383/j.aas.c200202
Citation: Sun Ning,  Cheng Long.  Design and modeling of series elastic actuators with applications in robot.  Acta Automatica Sinica,  2021,  47(7): 1467−1483 doi: 10.16383/j.aas.c200202

串联弹性驱动器设计、建模及在机器人上的应用

doi: 10.16383/j.aas.c200202
基金项目: 国家自然科学基金(U1913209, 62025307), 北京市自然科学基金(JQ19020, L182060)资助
详细信息
    作者简介:

    孙宁:中国科学院自动化研究所博士研究生. 主要研究方向为手部康复外骨骼机器人, 柔性驱动技术. E-mail: sunning2018@ia.ac.cn

    程龙:博士, 中国科学院自动化研究所复杂系统管理与控制国家重点实验室研究员. 主要研究方向为机器人, 智能控制. 本文通信作者. E-mail: long.cheng@ia.ac.cn

Design and Modeling of Series Elastic Actuators With Applications in Robot

Funds: Supported by National Natural Science Foundation of China (U1913209, 62025307), and Beijing Municipal Natural Science Foundation (JQ19020, L182060)
More Information
    Author Bio:

    SUN Ning Ph. D. candidate at the Institute of Automation, Chinese Academy of Sciences. His research interest covers hand rehabilitation exoskeleton robot and compliant actuator technology

    CHENG Long Ph. D., professor at the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences. His research interest covers the robotics and intelligent control. Corresponding author of this paper

  • 摘要:

    相比于传统的刚性驱动器, 串联弹性驱动器(Series elastic actuator, SEA)具有被动柔顺性、阻抗低、抗冲击、力感知等诸多优点, 因而已被广泛应用于各种机器人系统中. 首先根据弹性和阻尼特性将串联弹性驱动器分为弹性型、阻尼型和弹性−阻尼型串联弹性驱动器, 介绍不同类型串联弹性驱动器的优缺点, 并详细概述弹性和阻尼特性的机械实现方式; 然后对各类串联弹性驱动器作为力传感器的建模方法进行介绍; 接着叙述串联弹性驱动器在机器人系统中的主要应用, 如力传感器、安全保护、降低能耗; 最后展望串联弹性驱动器未来的发展方向.

  • 图  1  弹性型串联弹性驱动器的示意简图

    Fig.  1  Schematic diagram of elastic series elastic actuator

    图  2  基于直线压缩弹簧的弹性装置

    Fig.  2  The elastic device based on linear compression spring

    图  3  基于直线拉伸弹簧的弹性装置

    Fig.  3  The elastic device based on linear tension spring

    图  4  基于螺旋扭转弹簧的弹性装置

    Fig.  4  The elastic device based on helical torsion spring

    图  5  基于结构弹簧的弹性装置

    Fig.  5  The elastic device based on structural spring

    图  6  阻尼型串联弹性驱动器示意简图

    Fig.  6  Schematic diagram of damped series elastic actuator

    图  7  阻尼型串联弹性驱动器

    Fig.  7  Damped series elastic actuator

    图  8  弹性−阻尼型串联弹性驱动器示意简图

    Fig.  8  Schematic diagram of elastic-damped series elastic actuator

    图  9  粘弹性元件

    Fig.  9  The viscoelastic elements

    图  10  基于弹性与阻尼元件并联组合装置的串联弹性驱动器

    Fig.  10  Series elastic actuator based on parallel combination of elastic and damping elements

    图  11  基于弹性元件放置位置的弹性-阻尼型串联弹性驱动器示意简图

    Fig.  11  Schematic diagram of an elastic-damped series elastic actuator based on the placement position of the elastic element

    图  12  理想弹性元件模型特性曲线

    Fig.  12  The characteristic curve of ideal elastic element

    图  13  具有间隙的弹性元件模型特性曲线

    Fig.  13  The characteristic curve of elastic element with gap

    图  14  具有预压缩的弹性元件模型特性曲线

    Fig.  14  The characteristic curve of elastic element with pre-compressed

    图  15  基于具有弹性和阻尼特性元件物理特性的建模方法

    Fig.  15  The modeling method of element with elastic and damping characteristics by the physical characteristics

    图  16  Kelvin-Voigt模型和Maxwell模型对应力松弛和蠕变的建模结果[97]

    Fig.  16  Stress relaxation and creep behaviour of the Kelvin-Voigt model and the Maxwell model[97]

    图  17  基于粘弹性元件串联弹性驱动器角形变量与输出力矩曲线[66]

    Fig.  17  The curves of angle deformation and output torque of an series elastic actuator based on viscoelastic element[66]

    表  1  各类串联弹性驱动器机械实现方式及比较

    Table  1  Mechanical realization and comparison of various series elastic actuators

    类型物理特性机械实现方式系统力带宽能量特性安全性
    弹性型串联弹性驱动器弹性直线压缩弹簧一般效率高
    直线拉伸弹簧
    螺旋扭转弹簧
    结构弹簧
    阻尼型串联弹性驱动器阻尼磁流变液阻尼器较高效率低
    弹性-阻尼型串联弹性驱动器弹性和阻尼粘弹性元件效率一般一般
    弹性与阻尼元件并联组合装置
    弹性元件放置位置
    下载: 导出CSV

    表  2  各类串联弹性驱动器建模方法

    Table  2  Modeling methods of various series elastic actuators

    类型建模方法模型参数复杂度
    弹性型胡克定律1简单
    阻尼型线性粘性阻尼1简单
    弹性-阻尼型粘弹性元件Maxwell 模型、指数模型等复杂
    弹性和阻尼元件并联组合装置线性粘性阻尼与胡克定律
    弹性元件放置位置动力学
    下载: 导出CSV
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  • 收稿日期:  2020-04-10
  • 录用日期:  2020-11-18
  • 网络出版日期:  2021-01-13
  • 刊出日期:  2021-07-27

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