Design and Application of a New Dual-mode Twisted String Actuator
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摘要: 为了满足仿人机械手的拟人性要求，作为其动力源的驱动器应该具有体积小、质量轻、输出速度快以及输出力大的特点。在缠绕绳驱动器的基础上针对现有双速度小型变速机构提出了一种全新的设计方案，并据此制造出了一款双模式缠绕绳驱动器的样机。在该驱动器的基础上一款仿人机械手指的样机被制造了出来。对其性能的验证结果表明，所设计驱动器的最大输出力比现有双模式缠绕绳驱动机构大87.8 N，最大输出速度是现有驱动机构的8倍；所设计的机械手指最大指尖力为16.0 N，最大弯曲速度为1552 °/s。Abstract: To meet the anthropomorphic requirements of the robot hand, as the power source, the actuator should have the characteristics of small size, light weight, fast output speed and large output force. Based on the twisted string actuation, a new design scheme of the existing 2-speed small transmission mechanism is proposed, which is named as dual-mode twisted string actuator, and the prototype is manufactured. Besides, in order to evaluate the performance of the present actuator, and an anthropomorphic robot finger ismanufactured. At last, the performance of the actuator and the anthropomorphic robot finger is demonstrated via the experiments. The results show that the maximum output force of the actuator is 87.8 N higher than the existing mechanism, and the maximum output speed is 8 times of it. For the robot finger, the maximum fingertip force is 16.0 N and the maximum bending speed is 1552 °/s.
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表 1 驱动器及机械手指设计参数
参数名称 数值 驱动器尺寸 93.2 mm× 16 mm×28 mm 驱动器质量 91.8 g 主电机 Ø 10 Maxon motor (344515) 副电机 Ø 10 Maxon motor (344515) 绳索半径 0.33 mm 轴套半径 2.75 mm 轴套有效长度 9.5 mm 手指质量 104.8 g 手指长度 173 mm 近节指骨有效长度 35 mm 末端指骨有效长度 40 mm 指宽 12 mm 手指自由度 1 
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