WAVE：基于蜗轮的自适应可变弹性，用于将执行器与外力解耦
WAVE: Worm Gear-based Adaptive Variable Elasticity for Decoupling Actuators from External Forces
AI总结：
提出集成不可反向驱动蜗轮的可变刚度执行器WAVE，通过将电机与外力解耦、弹簧储能及预压缩调刚，实现精确传力、抗冲击和静止近零电机负载。
摘要：
能够同时调节柔顺性和刚度的机械臂可提供更高的操作安全性与多功能性。本文提出基于蜗轮的自适应可变弹性（WAVE），这是一种集成了不可反向驱动蜗轮的可变刚度执行器（VSA）。通过利用该齿轮将驱动电机与外力解耦，WAVE能够向关节精确传递力，同时通过柔顺性吸收位置偏差。WAVE通过将冲击力转化为储存在弹簧中的弹性能，从而免受过大负载影响。此外，该执行器通过改变弹簧的预压缩长度实现连续的关节刚度调节。我们展示了这些能力，通过实验验证了所提出的刚度模型，表明即使在外部负载下，静止时电机负载也接近零，并展示了搭载WAVE的机械臂应用。这一结果表明外力被成功解耦。该执行器的保护特性使其能够在接触密集型任务中延长运行时间，并在具有挑战性的环境中实现鲁棒的机器人应用。
英文摘要：
Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Elasticity (WAVE), a variable stiffness actuator (VSA) that integrates a non-backdrivable worm gear. By decoupling the driving motor from external forces using this gear, WAVE enables precise force transmission to the joint, while absorbing positional discrepancies through compliance. WAVE is protected from excessive loads by converting impact forces into elastic energy stored in a spring. In addition, the actuator achieves continuous joint stiffness modulation by changing the spring's precompression length. We demonstrate these capabilities, experimentally validate the proposed stiffness model, show that motor loads approach zero at rest--even under external loading--and present applications using a manipulator with WAVE. This outcome showcases the successful decoupling of external forces. The protective attributes of this actuator allow for extended operation in contact-intensive tasks, and for robust robotic applications in challenging environments.
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。
