用于安全空中物理交互的柔性机器人臂设计
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction
AI总结：
本文提出一种重400克、由双伺服电机和单腱驱动的柔性机器人臂，通过弹性设计与可调阻尼实现轻量化被动柔顺交互，用于提升空中物理交互安全性。
摘要：
本文介绍了一种新型柔顺机构，该机构结合了轻量化与能量耗散特性，用于空中物理交互。该机构起飞重量为400克，沿机体前向驱动，能够实现精确的位置控制，以完成力交互及多种其他空中操作任务。该机器人臂采用闭环运动链结构，使用两个外置伺服电机。每个关节由单根腱驱动，以实现末端执行器处臂部压缩的主动运动控制。其弹性机械设计减轻了重量并提供柔顺性，允许被动柔顺交互而不影响电机完整性。值得注意的是，臂的阻尼可基于所提出的内部摩擦凸起进行调节。实验应用展示了该空中系统在自由飞行和物理交互中的性能。本工作可为微型飞行器在交互过程中受到扰动的真实环境中开启更安全的应用。
英文摘要：
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for \ac{MAV} in real environments subject to perturbations during interaction.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
