Antagonistic drive device with capstans and tendon transmission
The application discloses an antagonistic drive device which adopts capstans and tendon transmission. The device adopts a pair of rotary actuators which are fixedly connected with the capstans of their respective output shafts respectively to drive the controlled joint and constitute an antagonistic drive. Since the rotary actuator can use a small rotary motor, and the capstans can be arranged properly to make full use of the space in the dexterous hand (especially the forearm) or the robot body. The device has the advantages of small overall size, light weight and low noise, which is especially suitable for driving the joints of dexterous hands with small overall size and a large number of joints. It can also be used for driving the joints of other robots.
1 . An antagonistic drive device using capstans and tendon transmission, comprising a controlled joint; a tendon; a first rotary actuator; a second rotary actuator; a first capstan; a second capstan; a first tendon sheath guide element at the controlled joint; a second tendon sheath guide element at the first rotary actuator; a third tendon sheath guide element at the second rotary actuator; a first tendon sheath; and a second tendon sheath;
wherein the capstans comprises the first capstan and the second capstan;
wherein the controlled joint comprises a rotational part and a joint base, the rotational part and the joint base are hinged so that the controlled joint can rotate,
wherein the first tendon sheath guide element at the controlled joint comprises a first tendon sheath mounting interface through which the tendon can pass,
wherein the first tendon sheath guide element at the controlled joint is relatively fixed with the joint base,
wherein the second tendon sheath guide element at the first rotary actuator comprises a second tendon sheath mounting interface through which the tendon can pass,
wherein the second tendon sheath guide element at the first rotary actuator is relatively fixed with a stator of the first rotary actuator,
wherein the third tendon sheath guide element at the second rotary actuator comprises a third tendon sheath mounting interface through which the tendon can pass,
wherein the third tendon sheath guide element at the second rotary actuator is relatively fixed with a stator of the second rotary actuator,
wherein one end of the first tendon sheath is fixed to the first tendon sheath mounting interface of the first tendon sheath guide element at the controlled joint, and an other end of the first tendon sheath is fixed to the second tendon sheath mounting interface of the second tendon sheath guide element at the first rotary actuator,
wherein one end of the second tendon sheath is fixed to the first tendon sheath mounting interface of the first tendon sheath guide element at the controlled joint, and the other end of the second tendon sheath is fixed to the third tendon sheath mounting interface of the third tendon sheath guide element at the second rotary actuator,
wherein the rotational part is fixedly connected to any point in the middle of the tendon, wherein the controlled joint is jointly driven by the first rotary actuator and the second rotary actuator, wherein the first rotary actuator is configured to pull one end of the tendon through the first capstan fixed to an output shaft of the first rotary actuator, wherein the second rotary actuator is configured to pull the other end of the tendon through the second capstan fixed to an output shaft of the second rotary actuator,
wherein the tendon is configured to slide in the first tendon sheath and the second tendon sheath,
wherein the first tendon sheath and the second tendon sheath are hoses.
2 . The antagonistic drive device using capstans and tendon transmission of claim 1 , wherein the controlled joint is provided with a joint angle sensor.
3 . The antagonistic drive device using capstans and tendon transmission of claim 1 , wherein the controlled joint is provided with a joint force and torque sensor.
4 . The antagonistic drive device using capstans and tendon transmission of claim 1 , wherein the tendon is provided with one or more tendon tension sensors.
5 . The antagonistic drive device using capstans and tendon transmission of claim 1 , wherein any one of position, velocity, torque, joint damping, and joint stiffness of the controlled joint is controlled by configuring speed and output forces of the first rotary actuator and the second rotary actuator respectively.
6 . The antagonistic drive device using capstans and tendon transmission of claim 1 , wherein the first rotary actuator is configured to apply a first traction force to an upper part of the tendon, while at the same time the second rotary actuator is configured to apply a second traction force to a lower part of the tendon, controlling joint damping and/or joint stiffness of the controlled joint by dynamically adjusting a magnitude of the first traction force and that of the second traction force.
7 . The antagonistic drive device using capstans and tendon transmission of claim 6 being configured to dynamically adjust the joint damping to cause the rotational part of the controlled joint to move in a first manner, and the first manner is a burst manner.
8 . The antagonistic drive device using capstans and tendon transmission of claim 7 , wherein dynamically adjusting the joint damping to cause the rotational part of the controlled joint to move in the burst manner comprises controlling the first traction force applied by the first rotary actuator to the upper part of the tendon and the second traction force applied by the second rotary actuator to the lower part of the tendon so as to increase an amplitude difference between the first traction force and the second traction force.
9 . The antagonistic drive device using capstans and tendon transmission of claim 8 , wherein the amplitude difference between the first traction force and the second traction force is configured to be increased so as to make the motion of the rotational end of the controlled joint closer to an eruption.
10 . The antagonistic drive device using capstans and tendon transmission of claim 6 , being configured to dynamically adjust the joint damping to cause the rotational part of the controlled joint to move in a second manner, the second manner comprises controlling the first traction force applied by the first rotary actuator to the upper part of the tendon and the second traction force applied by the second rotary actuator to the lower part of the tendon so as to reduce an amplitude difference between the first traction force and the second traction force.
11 . The antagonistic drive device using capstans and tendon transmission of claim 6 , wherein the amplitude of the first traction force is configured to vary with time and/or load, wherein the amplitude of the second traction force is configured to vary with time and/or load.