3Dプリントねじり直列弾性アクチュエータの設計と実験的検証：安全な人間-ロボットインタラクションに向けて
Design and Experimental Validation of a 3D Printed Torsional Series Elastic Actuator for Safe Human Robot Interaction
3DプリントTPU製の低剛性ねじりバネを直列弾性アクチュエータに用い、トルク閾値切替式ハイブリッド位置制御で安全な人間-ロボットインタラクションを実現した。
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著者: Joel Hidalgo Pisco, Melissa Cobos Condo, Luigi Miranda, Dennys Paillacho
分類: cs.RO
原文アブストラクト
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.
関連論文
- 直列弾性アクチュエータの線形制御における性能と受動性の両立直列弾性アクチュエータ