Difference between revisions of "DDRA"
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Revision as of 21:38, 13 April 2011
DDRA - Double Differential Rheological Actuator (patent pending)
Description
Robotic systems are increasingly moving out of factories, stepping into a dynamic world full of unknowns, where they must interact in a safe and versatile manner. Traditional actuation schemes, which rely on position control and stiff actuators, often fail in this new context. There have been many attempts to modify them by adding a full suite of force and position sensors and by using new control algorithms but, in most cases, the naturally high output inertia and the internal transmission nonlinearities such as friction and backlash remain quite burdensome.
The proposed actuation scheme addresses many of those limitations. The DDRA uses a differentials mechanism and two magnetorheological brakes coupled to, for example, an electromagnetic motor. This configuration enables the DDRA to act as a high bandwidth, very low inertia, very low friction and without backlash torque source that can be controlled to track any desired interaction dynamics. The advantages include safety and robustness due to extreme backdrivability and a lot of versatility in interactions. In a more traditional context, the actuator’s low inertia, eliminated backlash and reduced nonlinearities allow for greater accelerations and a more precise positioning, thus improving productivity and quality.
Videos[edit]
Download QuickTime for these videos.
- DDRA as a High Performance Haptic Interface (February 2010)
- Interaction control (Decembre 2009): Simulation of a spring / Simulation of a wall
- Prototype 1 (June 2009)
- Proof-of-concept Prototype 0 (December 2008)
Status[edit]
Prototype 1 | Prototype 1b | Prototype 2 (under construction)
| |
---|---|---|---|
Nominal power
|
90 W | 96 W | - |
Nominal torque
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11 Nm | 12 Nm | - |
Maximum torque
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20 Nm | 12 Nm | - |
Inertia
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1.2e-4 kg.m² | - | - |
Power Rate
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1025 kW/s | - | - |
Torque bandwidth
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>40 Hz (limit of test)
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33 Hz | - |
Maximum speed
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160 RPM | 68 RPM | - |
Reduction ratio
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33:1 | 123.79:1 | - |
Dimensions ratio
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90 dia X 137 mm | 83 dia X 145 mm | - |
Weight
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2.4 kg | 1.65 kg | - |
Force control:
Position control:
Interaction control:
Simulation of a spring
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Simulation of a wall
|
|
|
Publications
Fauteux, P., Lauria, M., Heintz, B., Michaud, F. (2010), “Dual differential rheological actuator for high performance physical robotic interaction,” IEEE Transactions on Robotics, 26(4):607-618. (pdf)
Heintz, B., Fauteux, P., Létourneau, D., Michaud, F., Lauria, M. (2010), “Using a dual differential rheological actuator as a high-performance haptic interface,” IEEE/RSJ International Conference on Intelligent Robots and Systems. (pdf)
Fauteux, P., Lauria, M., Legault, M.-A., Heintz, B., Michaud, F. (2009), "Dual differential rheologic actuator for robotic interaction tasks", Proceeedings IEEE International Conference on Advanced Intelligent Mechatronic, July. Best student paper award of the conference, and ASME Dynamic Systems and Control Division Best 2009 Student Paper Award in Mechatronics (pdf)
Fauteux, P., , Conception d'un actionneur adapté à l'interaction physique dans un contexte de robotique, Mémoire de maîtrise, Département de génie mécanique, Université de Sherbrooke. (pdf)
Heintz, B., Électronique embarquée pour un actionneur adapté au contrôle d'interaction, Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke. (pdf)
Team[edit]
- Philippe Fauteux
- Benoit Heintz
- Marc-Antoine Legault
- Michel Lauria
- Dominic Létourneau
- François Michaud