Difference between revisions of "DDRA"

From IntRoLab
(Publications)
 
(37 intermediate revisions by 7 users not shown)
Line 1: Line 1:
 +
<analytics uacct="UA-27707792-1" ></analytics>
 +
 
<big><french>ADDR - Actionneur à double différentiel rhéologique (en instance de brevet) </french><english>DDRA - Double Differential Rheological Actuator (patent pending)</english></big>
 
<big><french>ADDR - Actionneur à double différentiel rhéologique (en instance de brevet) </french><english>DDRA - Double Differential Rheological Actuator (patent pending)</english></big>
  
Line 16: Line 18:
 
</center>
 
</center>
  
[[Media:DDRA_Ressort.mpg]]
+
 
  
 
<english>= Videos =</english><french>= Vidéos =</french>
 
<english>= Videos =</english><french>= Vidéos =</french>
<english>Download [http://www.apple.com/quicktime/download/ QuickTime] for these videos.</english><french> Téléchargez [http://www.apple.com/quicktime/download/ QuickTime] pour visionner ces vidéos.</french>
+
<center>
 +
<code>{{#ev:dailymotion|xbxi91}}</code>
 +
</center>
 +
<english> Download [http://www.apple.com/quicktime/download/ QuickTime] for these videos.</english><french> Téléchargez [http://www.apple.com/quicktime/download/ QuickTime] pour visionner ces vidéos.</french>
 
<french>
 
<french>
* [[#ancre_interaction|Contrôle d'interaction (Décembre 2009)]]
+
* [[Media:DDRA_March2010.mov | DDRA as a High Performance Haptic Interface (Février 2010)]]
* [[Media:DDRA_proto_1_-_francais_HD.mp4 | Prototype 1 (Juin 2009)]]
+
* Contrôle d'interaction (Décembre 2009): [[Media:Ressort.mp4 | Simulation d'un ressort]] / [[Media:Mur.mp4 | Simulation d'un mur]]
 +
* [[Media:DDRA_proto_1_-_English_HD.mp4 | Prototype 1 (Juin 2009)]]
 
* [[Media:DR2_Prototype1.mp4 | Preuve de concept Prototype 0 (Décembre 2008)]]
 
* [[Media:DR2_Prototype1.mp4 | Preuve de concept Prototype 0 (Décembre 2008)]]
 
</french>
 
</french>
 
<english>
 
<english>
* [[#ancre_interaction|Interaction control (December 2008)]]
+
* [[Media:DDRA_March2010.mov | DDRA as a High Performance Haptic Interface (February 2010)]]
* [[Media:DDRA_proto_1_-_English_HD.mp4 | Prototype 1 (June 2009)]]
+
* Interaction control (Decembre 2009): [[Media:Ressort.mp4 | Simulation of a spring]] / [[Media:Mur.mp4 | Simulation of a wall]]
 +
* [[Media:DDRA_proto_1_-_English_HD.mp4| Prototype 1 (June 2009)]]
 
* [[Media:DR2_Prototype1.mp4 | Proof-of-concept Prototype 0 (December 2008)]]
 
* [[Media:DR2_Prototype1.mp4 | Proof-of-concept Prototype 0 (December 2008)]]
 
</english>
 
</english>
  
 
<english>= Status =</english><french>=État d'avancement=</french>
 
<english>= Status =</english><french>=État d'avancement=</french>
<english>Prototype 1</english>
+
{| class="wikitable" valign="top" style="text-align:left; width:100%; border:0px solid;"
<french>Prototype 1</french>
 
{|style="width:33%;" height:100px; salign=center;
 
|-
 
| colspan=2 style="border-bottom:3px solid grey;" valign="center" | [[Image:DR2 prototype compact 1.jpg | 150px | center|DDRA]]
 
 
|-
 
|-
|<english>Nominal power</english><french>Puissance nominale</french>
+
|
|90W
+
! scope=col | Prototype 1
 +
! scope=col | Prototype 1b
 +
! scope=col | <english>Prototype 2 (under construction)</english><french>Prototype 2 (en construction)</french>
 
|-
 
|-
| <english>Nominal torque</english><french>Couple nominal</french>
+
! scope=row |
 +
|[[Image:DR2 prototype compact 1.jpg | 150px | left|DDRA]]
 +
|[[Image:DR2 prototype compact 1b.jpg | 150px | left|DDRA]]
 +
|[[Image:DR2 prototype compact 2.jpg | 150px | left|DDRA]]
 +
|-valign="top"
 +
! scope=row |<english>Nominal power</english><french>Puissance nominale</french>
 +
|90 W
 +
|96 W
 +
| -
 +
|-valign="top"
 +
! scope=row | <english>Nominal torque</english><french>Couple nominal</french>
 
|11 Nm
 
|11 Nm
|-
+
|12 Nm
| <english>Maximum torque</english><french>Couple maximal</french>
+
| -
 +
|-valign="top"
 +
! scope=row | <english>Maximum torque</english><french>Couple maximal</french>
 
|20 Nm
 
|20 Nm
|-
+
|12 Nm
| <english>Inertia</english><french>Inertie</french>
+
| -
|1.2e-4 kg.m^2
+
|-valign="top"
|-
+
! scope=row | <english>Inertia</english><french>Inertie</french>
|-
+
|1.2e-4 kg.
| <english>Power Rate</english><french>Power Rate</french>
+
| -
 +
| -
 +
|-valign="top"
 +
! scope=row | <english>Power Rate</english><french>Power Rate</french>
 
|1025 kW/s
 
|1025 kW/s
|-
+
| -
| <english>Torque bandwidth</english><french>Bande passante de couple</french>
+
| -
 +
|-valign="top"
 +
! scope=row | <english>Torque bandwidth</english><french>Bande passante de couple</french>
 
|<english>>40 Hz (limit of test)</english><french>>40 Hz (limite du test)</french>
 
|<english>>40 Hz (limit of test)</english><french>>40 Hz (limite du test)</french>
|-
+
|33 Hz
|<english>Maximum speed</english><french>Vitesse maximale</french>
+
| -
 +
|-valign="top"
 +
! scope=row | <english>Maximum speed</english><french>Vitesse maximale</french>
 
|160 RPM
 
|160 RPM
|-
+
|68 RPM
|<english>Reduction ratio</english><french>Ratio de réduction</french>
+
| -
 +
|-valign="top"
 +
! scope=row |<english>Reduction ratio</english><french>Ratio de réduction</french>
 
|33:1
 
|33:1
|-
+
|123.79:1
|<english>Dimensions ratio</english><french>Dimensions</french>
+
| -
 +
|-valign="top"
 +
! scope=row |<english>Dimensions ratio</english><french>Dimensions</french>
 
|90 dia X 137 mm
 
|90 dia X 137 mm
|-
+
|83 dia X 145 mm
| <english>Weight</english><french>Poids</french>
+
| -
|2.4 kg
+
|-valign="top"
 +
! scope=row |<english>Weight</english><french>Masse</french>
 +
| 2.4 kg
 +
|1.65 kg
 +
| -
 
|}
 
|}
 
  
  
Line 91: Line 122:
 
<english>'''Interaction control:'''</english><french>'''Contrôle d'interaction:'''</french>
 
<english>'''Interaction control:'''</english><french>'''Contrôle d'interaction:'''</french>
 
<center>
 
<center>
{| class="wikitable" style="text-align:center; width:80%;"
+
{| class="wikitable" style="text-align:center; width:100%;"
 
|-
 
|-
| <english>Simulation of a spring</english><french>Simulation d'un ressort</french> || <english>Simulation of a wall</english><french>Simulation d'un mur</french>
+
|<english>Simulation of a spring</english><french>Simulation d'un ressort</french>
 +
|<english>Simulation of a wall</english><french>Simulation d'un mur</french>
 
|-
 
|-
|<code>{{#ev:dailymotion|xbr4kw_addr-interface-haptique-ressort_tech}}</code> || <code>{{#ev:dailymotion|xbr4k6_addr-interface-haptique-mur_tech}}</code>
+
|<code>{{#ev:dailymotion|xbs3jv}}</code>
 +
|<code>{{#ev:dailymotion|xbs3i7}}</code>
 
|}
 
|}
 +
 
</center>
 
</center>
 +
 +
<english>= Patents =</english><french>= Brevets =</french>
 +
* http://www.google.com/patents/US20110045932
  
 
= Publications =
 
= Publications =
  
Fauteux, P., Lauria, M., Legault, M.-A., Heintz, B., Michaud, F. (2009), “Dual differential rheological actuator for robot interaction tasks,IEEE International Conference on Advanced Intelligent Mechatronics. '''Recipient of Best Student Paper Award.''' [[Media:DDRA_AIM2009.pdf | (pdf)]]  
+
#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. [[Media:TRO2010.pdf|(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. [[Media:IROS2010_BH.pdf|(pdf)]]
 +
#Fauteux, P. (2010), Conception d'un actionneur adapté à l'interaction physique dans un contexte de robotique, Mémoire de maîtrise, Département de génie mécanique, Université de Sherbrooke. [[Media:MemoireFauteux.pdf|(pdf)]]
 +
#Heintz, B. (2010), Électronique embarquée pour un actionneur adapté au contrôle d'interaction, Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke. [[Media:MemoireHeintz.pdf|(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 [[Media:DDRA_AIM2009.pdf | (pdf)]]
 +
#Lauria, M., Fauteux, Ph., Legault, M.-A., Lavoie, M.-A., Michaud, F. (2008) “Differential elastic actuator for robotic interaction tasks,” ''Proceedings of Actuator 2008, 11th International Conference on New Actuators'', Bremen, Germany.
  
 
<english>= Team =</english><french>=Équipe=</french>
 
<english>= Team =</english><french>=Équipe=</french>
 +
 
* Philippe Fauteux
 
* Philippe Fauteux
 +
* Guifré Julio
 
* Benoit Heintz
 
* Benoit Heintz
 
* Marc-Antoine Legault
 
* Marc-Antoine Legault
* Matthieu Tanguay
+
* Dominic Létourneau
 
* Michel Lauria
 
* Michel Lauria
* Dominic Létourneau
 
 
* François Michaud
 
* François Michaud

Latest revision as of 14:45, 29 March 2013

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.


DDRA from proof-of-concept (Prototype 0) to first compact integration (Prototype 1)


Videos[edit]

Download QuickTime for these videos.

Status[edit]

Prototype 1 Prototype 1b

Prototype 2 (under construction)

DDRA
DDRA
DDRA

Nominal power

90 W 96 W -

Nominal torque

11 Nm 12 Nm -

Maximum torque

20 Nm 12 Nm -

Inertia

1.2e-4 kg.m² - -

Power Rate

1025 kW/s - -

Torque bandwidth

>40 Hz (limit of test)

33 Hz -

Maximum speed

160 RPM 68 RPM -

Reduction ratio

33:1 123.79:1 -

Dimensions ratio

90 dia X 137 mm 83 dia X 145 mm -

Weight

2.4 kg 1.65 kg -


Force control:

Torque control bode plot
Torque command following
Torque step


Position control:

Position command following (0.084 kg.m.m load, 8 Nm nominal, PIDc)


Interaction control:

Simulation of a spring

Simulation of a wall

Patents[edit]

Publications

  1. 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)
  2. 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)
  3. Fauteux, P. (2010), 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)
  4. Heintz, B. (2010), 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)
  5. 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)
  6. Lauria, M., Fauteux, Ph., Legault, M.-A., Lavoie, M.-A., Michaud, F. (2008) “Differential elastic actuator for robotic interaction tasks,” Proceedings of Actuator 2008, 11th International Conference on New Actuators, Bremen, Germany.

Team[edit]

  • Philippe Fauteux
  • Guifré Julio
  • Benoit Heintz
  • Marc-Antoine Legault
  • Dominic Létourneau
  • Michel Lauria
  • François Michaud