三维打印扭转串联弹性执行器的设计与实验验证，用于安全的人机交互

中文摘要 AI 辅助

确保物理人机交互（pHRI）中的内在安全性是社交和服务机器人的关键要求。虽然串联弹性执行器（SEAs）提供了基于硬件的柔顺性，但传统的金属设计通常需要复杂的多部件组装。本文介绍了一种用于SEAs的低刚度扭转弹簧的设计、有限元分析（FEA）和实验验证，该弹簧通过三维打印的热塑性聚氨酯（TPU）制造。该柔顺元件表现出高度线性的扭矩-变形响应（Ks = 0.066 Nm/度），与数值预测的偏差小于3%，这一差异归因于FDM结构各向异性。为了使用标准的位置受限伺服电机适应外部交互，实现了一种带扭矩阈值切换的混合位置控制器。实验评估表明，该系统能够准确跟踪非平稳轨迹，并安全地屈服于外部干扰。此外，TPU固有的材料阻尼充当无源低通滤波器，防止控制模式切换期间的高频振荡。所提出的架构为安全的pHRI提供了一种成本效益高、可靠且易于制造的解决方案。

英文摘要

Ensuring intrinsic safety in physical human robot interaction (pHRI) is a critical requirement for social and service robots. While Series Elastic Actuators (SEAs) offer hardware based compliance, traditional metallic designs often require complex, multi part assemblies. This paper presents the design, finite element analysis (FEA), and experimental validation of a low stiffness, torsional spring for SEAs, manufactured via 3D printed thermoplastic polyurethane (TPU). The compliant element exhibits a highly linear torque deformation response (Ks = 0.066 Nm/degree), matching numerical predictions with under 3% deviation, a variance attributed to FDM structural anisotropy. To accommodate external interactions using standard position limited servomotors, a hybrid position controller with torque threshold switching was implemented. Experimental evaluations demonstrate the system ability to accurately track non stationary trajectories and safely yield to external disturbances. Furthermore, the inherent material damping of the TPU acts as a passive low pass filter, preventing high frequency oscillations during control mode transitions. The proposed architecture offers a cost effective, reliable, and easily manufacturable solution for safe pHRI.

发表机构

• ESPOL Polytechnic University（ESPOL理工大学）

机构由 AI 辅助整理，请以论文原文为准。