刚度
伺服电动机
执行机构
控制理论(社会学)
沉降时间
软机器人
热塑性聚氨酯
抓住
计算机科学
数学
材料科学
工程类
机械工程
控制工程
阶跃响应
控制(管理)
结构工程
人工智能
复合材料
弹性体
程序设计语言
作者
Tuan Luong,Sungwon Seo,Jure Hudoklin,Ja Choon Koo,Hyouk Ryeol Choi,Hyungpil Moon
出处
期刊:IEEE robotics and automation letters
日期:2022-01-25
卷期号:7 (2): 3178-3185
被引量:15
标识
DOI:10.1109/lra.2022.3145968
摘要
This letter proposes a variable stiffness robotic hand driven by twisted-coiled polymer actuators (TCAs) connected in series with a servomotor. Unlike slow conventional TCA systems, the grasping motion of the proposed hand is realized by the servomotor, which improves the speed of actuation significantly. It was shown that by using the servomotor, the rise time and settling time in set-point regulation control were $\text{0.1}\;{\mathrm {s}}$ and $\text{0.33}\;{\mathrm {s}}$, respectively, which were significantly improved compared with those results of 3.26 s and 12.40 s using TCAs only. Since the stiffness of TCAs can be changed by varying their temperature, the stiffness of the hand can be realized by changing the temperature of the TCA. By applying model predictive control (MPC) and active cooling, the temperature of the TCA can be controlled to follow a sinusoidal waveform at a frequency of 0.1 Hz with an average steady-state error of 0.9 Celsius degrees. The proposed robotic hand can grasp a load of 80 g and approximately achieve a 5-fold variable stiffness. In addition, the fingers of the hand with soft joints are fully made using flexible thermoplastic polyurethane (TPU), therefore reducing the need for complex assembly processes.
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