仿生摩擦开关：自适应滑轮系统
Bio-inspired friction switches: adaptive pulley systems
摘要：
肌腱驱动的机器人系统中的摩擦影响通常是不希望的，努力尽可能减少它们。然而，在人手中，肌腱-滑轮系统被发现是摩擦的，在高负载静态偏心后和同心后力产生之间的差异为总输出力的9-12%。这种差异可以直接归因于肌腱滑轮摩擦。利用这种现象的机器人和假肢应用，我们可以实现驱动器的尺寸，重量和因此减少能源消耗。在这项研究中，我们提出了一个仿生摩擦开关的设计。自适应皮带轮的设计旨在最大限度地减少摩擦力的影响，在低和中等负载条件下，并在高负载条件下最大化。这是通过由高摩擦硅胶基板和低摩擦抛光钢销组成的双材料系统实现的。该系统，旨在切换其摩擦性能之间的低负荷和高负荷的条件下，描述和其行为的实验验证相对于销的数量和间距。结果验证了其预期行为，使其成为机器人肌腱驱动系统的可行选择。
英文摘要：
Frictional influences in tendon-driven robotic systems are generally unwanted, with efforts towards minimizing them where possible. In the human hand however, the tendon-pulley system is found to be frictional with a difference between high-loaded static post-eccentric and post-concentric force production of 9-12% of the total output force. This difference can be directly attributed to tendon-pulley friction. Exploiting this phenomenon for robotic and prosthetic applications we can achieve a reduction of actuator size, weight and consequently energy consumption. In this study, we present the design of a bio-inspired friction switch. The adaptive pulley is designed to minimize the influence of frictional forces under low and medium-loading conditions and maximize it under high-loading conditions. This is achieved with a dual-material system that consists of a high-friction silicone substrate and low-friction polished steel pins. The system, designed to switch its frictional properties between the low-loaded and high-loaded conditions, is described and its behavior experimentally validated with respect to the number and spacing of pins. The results validate its intended behavior, making it a viable choice for robotic tendon-driven systems.
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