Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged robots that must rapidly regulate compliant interactions with the environment. However, no metric exists to quantify the robot's performance degradation due to mechanical losses in the actuators and transmissions. This paper provides a fundamental formulation that uses the mechanical efficiency of transmissions to quantify the effect of power losses in the mechanical transmissions on the dynamics of a whole robotic system. We quantitatively demonstrate the intuitive fact that the apparent inertia of the robots increase in the presence of joint friction. We also show that robots that employ high gear ratio and low efficiency transmissions can statically sustain more substantial external loads. We expect that the framework presented here will provide the fundamental tools for designing the next generation of legged robots that can effectively interact with the world.
翻译:工业操纵者不会因为他们的接合点摩擦而失去动力,在自身重量下崩溃。虽然这些装置对于严格控制选取地点有效,但对于必须迅速调节与环境的兼容性相互作用的腿部机器人来说却不合适。然而,对于机械操作器和传输机的机械损失造成的机器人性能退化,没有衡量尺度来量化。本文提供了一种基本配方,利用传输机的机械效率来量化机械传输机能丧失对整个机器人系统动态的影响。我们从数量上表明,在出现联合摩擦时,机器人的明显惰性会增加。我们还表明,使用高齿轮比率和低效率传输的机器人能够静态地承受更多的外部负荷。我们预计,此处提出的框架将为设计下一代能够与世界有效互动的腿部机器人提供基本工具。