Difference between revisions of "DDRA"

From IntRoLab
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= Description =
 
= Description =
<english>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 has 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.  
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<english>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 configurations enables the DDRA to act as a high bandwith, 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 ineractions. 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.</english>
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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.</english>
  
  
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Le concept d'actionneur proposé élimine plusieurs de ces limitations. L'ADDR utilise d'un mécanisme différentiel et deux freins magnétorhéologiques couplés, par exemple, à un moteur électromagnétique. Cette configuration permet à l'ADDR d'agir comme une source de couple à haute bande passante, de très faible inertie, de très faible friction et avec un jeu nul qui peut être asservie  pour reproduire une dynamique d'interaction choisie.Les avantages incluent une sécurité et une robustesse accrue ainsi qu'une très grande polyvalence dans les interactions. Également, dans un contexte plus traditionnel, l'ADDR permet de fortes accélérations et un positionnement très précis permettant un gain en productivité et en qualité.</french>
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Le concept d'actionneur proposé élimine plusieurs de ces limitations. L'ADDR utilise un mécanisme différentiel et deux freins magnétorhéologiques couplés, par exemple, à un moteur électromagnétique. Cette configuration permet à l'ADDR d'agir comme une source de couple à haute bande passante, de très faible inertie, de très faible friction et avec un jeu nul qui peut être asservie  pour reproduire une dynamique d'interaction choisie. Les avantages incluent une sécurité et une robustesse accrues ainsi qu'une très grande polyvalence dans les interactions. Également, dans un contexte plus traditionnel d'automatisation et de robotique industrielle, l'ADDR permet de fortes accélérations et un positionnement très précis permettant un gain en productivité et en qualité.</french>
  
 
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Revision as of 13:16, 20 April 2009

DDRA - Double Differential Rheological Actuator (patent pending)

Team[edit]

  • Philippe Fauteux
  • Benoit Heintz
  • Marc-Antoine Legault
  • Matthieu Tanguay
  • Michel Lauria
  • Dominic Létourneau


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.



From proof-of-concept to first compact integration


Status[edit]

The first compact prototype is being assembled and tested. This is an ongoing project. Preliminary results are listed below.


DR2 prototype compact 1.jpg

Power rating

90W

Nominal torque

10 Nm

Maximum torque

20 Nm

Inertia

1.2e-4 kg.m^2

Torque bandwidth

>40 Hz (limit of test)

Maximum speed

160 RPM

Reduction ratio

33:1

Dimensions ratio

90 dia X 137 mm

Weight

2.4 kg


Videos

Téléchargez QuickTime pour visionner ce vidéo.