发表机构
OMRON SINIC X Corporation; Yamagata University（欧姆龙SINIC X公司; 山形大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对柔性轴传动因松弛导致螺旋屈曲而增大角误差的问题，提出带近端张紧器的SHAFT机构，在四弯路径中效率提升约30%、角误差降低约65%，并制成280克6自由度臂，实现轻量高效远程驱动。
AI 中文摘要
轻量且纤细的机械臂能够在人类生活环境中实现安全操作。使用远程传动机构（如线驱动或鲍登线缆）的近端驱动，通过将电机重新定位到靠近基座的位置并将扭矩传递到远端关节，有效降低了惯性和臂部尺寸。现有方法要么通过增加额外组件（如用于改变方向的滑轮）来增加质量，要么因摩擦损失而降低传动效率。柔性轴传动避免了质量增加和过度摩擦损失，但面临因关节弯曲时产生的松弛导致的螺旋屈曲，进而引起角传动误差增大的问题。为解决此问题，我们提出了SHAFT：一种松弛补偿、螺旋屈曲衰减的柔性轴传动机构。该机构通过近端张紧器补偿松弛，在不增加臂段运动质量的情况下，改善了柔性轴传动的角传动误差和效率。在包含四个90度弯曲的传动路径中，与无张紧器的柔性轴传动相比，所提出的机构表现出约30%更高的效率和约65%更低的角传动误差。利用该机构，我们制造了一个6自由度（DoF）臂，配备1自由度夹爪的机械臂，由装有电机和张紧器的旋转模块组成，臂模块重量为280克。所提出的机械臂代表了一种新型远程驱动系统，以实现轻量化构造和高效率，有助于加速机器人在人类环境中的安全部署。
英文摘要
Lightweight and slim manipulators enable safe operation in human living environments. Proximal actuation using remote transmission mechanisms, such as wire-driven or Bowden cables, effectively reduces inertia and arm size by relocating motors near the base and transmitting torque to distal joints. Existing approaches either increase mass through additional components, such as pulleys for direction changes, or suffer from reduced transmission efficiency due to friction losses. Flexible shaft transmission avoids both mass increase and excessive friction losses, but faces increasing angular transmission error due to helical buckling caused by slack generated at joint bending. To address this problem, we propose SHAFT: a Slack-compensating, Helical-buckling-Attenuating Flexible- shaft Transmission mechanism. This mechanism compensates for slack through a proximal tensioner, improving the angular transmission error and efficiency of flexible shaft transmission without increasing the moving mass of the arm section. In a transmission path containing four 90-degree bends, the proposed mechanism demonstrated approximately 30% higher efficiency and approximately 65% lower angular transmission error compared to a flexible shaft transmission without a tensioner. Using this mechanism, we fabricated a 6-Degree-of-Freedom (DoF) arm with a 1-DoF gripper manipulator consisting of a rotary module housing motors with a tensioner, and a 280 g weight for the arm module. The proposed manipulator represents a novel remote actuation system for achieving lightweight construction with high efficiency, contributing to the acceleration of safe robot deployment in human environments.
Comments9 pages, 14 figures, submitted as proceedings of IROS2026
