科研之友
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摘要
Wearable robots, like prostheses, active orthoses and exoskeletons for human performance augmentations, need a new breed of actuators, capable of exhibiting a large number of desirable features, ranging from high power/torque density, high efficiency, zero backlash and low noise, to low reflected mechanical impedance, high bandwidth and accuracy. Even if it is quite evident that to fully meet these requirements new basic actuation principles have to be investigated and developed in the long term, there is still scope now to innovate the field by combining mature components into new actuation schemes. This paper reports the development and experimental evaluation of an innovative actuator, expressly conceived as an actuation module for a fully powered whole-body exoskeleton, intended for material handling. The main design objective has been the enhancement of the torque density and the mechanical efficiency with respect to existing solutions. The device has shown impressive performances, being able to exert more than 500 Nm continuous torque and more than 600 Nm peak torque with more than 85% mechanical efficiency and zero backlash, up to 60 degrees/s maximum output speed for a total weight of just 6 kg, comprising the structural case covering the internal mechanical components. The design and the experimental evaluation of a preliminary force control using acceleration feedback for stabilization are also reported.
- 出版日期2010
