Development of a New Backdrivable Actuator for Haptic Interfaces and Collaborative Robots

Actuators

Florian Gosselin¹  Fabien Ferlay²  Alexandre Janot³ 

[1] Interactive Robotics Laboratory, French Alternative Energies and Atomic Energy Commission, Laboratory of Applied Research on Software Intensive Technologies (CEA, LIST), Gif-sur-Yvette F-91190, France;Mechanical Projects Engineering Group, French Alternative Energies and Atomic Energy Commission, Institute for Magnetic Fusion Research (CEA, IRFM), Saint-Paul Lez Durance F-13108, France;Office National d’Etudes et de Recherches Aérospatiales (ONERA, The French Aerospace Lab), Toulouse F-31055, France;

关键词: backdrivable actuator;    high reduction ratio;    differential cable drive;    haptics;    collaborative robots;   

DOI  :  10.3390/act5020017

来源: DOAJ

【 摘 要 】

Industrial robots are most often position controlled and insensitive to external forces. In many robotic applications, however, such as teleoperation, haptics for virtual reality, and collaborative robotics, a close cooperation between humans and robots is required. For such applications, force sensing and control capabilities are required for stable interactions with the operator and environment. The robots must also be backdrivable, i.e., the robot must be able to follow user’s induced movements with the least possible resistance. High force efficiency is also desirable. These requirements are different from the design drivers of traditional industrial robots and call for specific actuators and reducers. Many such devices were proposed in the literature. However, they suffer from several drawbacks, offering either a limited reduction ratio or being complex and bulky. This paper introduces a novel solution to this problem. A new differential cable drive reducer is presented. It is backdrivable, has a high efficiency, and a potentially infinite reduction ratio. A prototype actuator using such a reducer has been developed and integrated on a test bench. The experimental characterization of its performance confirms its theoretical advantages.

【 授权许可】

Unknown