利用奇异性和力矩重分布增强人体负载能力的机器人腿设计
Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution
摘要：
我们提出了一种新的机器人人类增强系统的设计，该系统将帮助操作员携带沉重的有效载荷，达到并保持困难的姿势，并最终更好地执行他们的工作。额外的机器人腿（XRL）系统由操作员佩戴，由两个铰接的机器人腿组成，它们与操作员一起移动以承载沉重的有效载荷。该设计是由需要提高危险材料应急响应人员的有效性驱动的，这些人员被他们的个人防护设备（PPE）所拖累。腿最终将与操作员一起行走、爬楼梯、蹲下和爬行，同时消除操作员的所有外部PPE负载。分析了最极端负载情况下的力，以找到减少致动器负载的有效策略。分析表明，最大扭矩施加在从爬行到站立运动模式的过渡期间。通过利用由XRL的特定姿态形成的闭环运动链产生的力应用中的冗余，峰值扭矩显著降低。根据这些分析的结果设计了执行器、动力系统和传动元件。使用差动机构将多个致动器的输入组合成单个自由度，可以将承受重负载所需的齿轮减速保持在最小值，从而由于接近直接驱动的传动而实现高带宽力控制。利用从这些分析中获得的见解制造了原型，初步测试表明XRL系统的可行性。
英文摘要：
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimately better performing their job. The Extra Robotic Legs (XRL) system is worn by the operator and consists of two articulated robotic legs that move with the operator to bear a heavy payload. The design was driven by a need to increase the effectiveness of hazardous material emergency response personnel who are encumbered by their personal protective equipment (PPE). The legs will ultimately walk, climb stairs, crouch down, and crawl with the operator while eliminating all external PPE loads on the operator. The forces involved in the most extreme loading cases were analyzed to find an effective strategy for reducing actuator loads. The analysis reveals that the maximum torque is exerted during the transition from the crawling to standing mode of motion. Peak torques are significantly reduced by leveraging redundancy in force application resulting from a closed-loop kinematic chain formed by a particular posture of the XRL. The actuators, power systems, and transmission elements were designed from the results of these analyses. Using differential mechanisms to combine the inputs of multiple actuators into a single degree of freedom, the gear reductions needed to bear the heavy loads could be kept at a minimum, enabling high bandwidth force control due to the near-direct-drive transmission. A prototype was fabricated utilizing the insights gained from these analyses and initial tests indicate the feasibility of the XRL system.
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