文件名称:
mit猎豹机器人腿足驱动器设计（包含代码和设计文件链接）
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上传时间: 2019-03-03
详细说明：mit猎豹机器人腿足驱动器设计（包含代码和设计文件链接），a Low Cost modular Actuator for Dynamic robots
Benjamin G. Katz
Submitted to the department of Mechanical Engineering
on May 11, 2018, in partial fulfillment of the
requirements for the degree of
Masters of Science in Mechanical engineering
abstract
This thesis details the hardware and control development for a low-cost modular ac
tuator, intended for use in highly dynamic robots. a small 12 degree of freedom
quadruped robot has built using these actuators, on which several control experi
ments have been performed. Despite the relatively low cost of the actuators, the
quadruped has demonstrated unprecedented dynamic behaviors for a robot of this
scale and number of degrees of freedom, such as a full 360 backflip from standing on
fat ground. Several other implementations of these actuators are also discussed, a in
cluding bilateral teleoperation and haptic feedback system and a 6 degree of freedom
lower-body biped robot
Thesis Supervisor: Sangbae Kim
Title: Associate professor
Acknowledgments
Many people helped to make this work possible. In particular I would like to thank
My advisor, Sangbae Kim: for taking me as a urop after my freshman year at
MIT, getting me started down this path; for the freedom and resources to pursue this
project; and everything else
Jared Di Carlo. for the amazing work on the software and controls for both this
robot and Cheetah 3, and for countless hours of debugging and fixing Cheetah 3 with
me
Joao ramos for being an actuator guinea pig and trying these out on Little her
mer
Bayley wang, for many motor control discussions, help outsourcing machining
and wrangling Yubo MFG
Alex Hattori, for help with design and fabrication of the quadruped
Everyone else in the Biomimetic Robotics Lab: This has been an fantastic envi-
ronment to work in. Thanks for making it awesome
The wonderful people of the MIT Electronics Research Society. Thank you all for
the inspiration, technica l advice, friendships and many ill-conceived adventures
Andy b. for keeping me company during all those late nights of machining robot
parts, assembling PCBs, writing this thesis, and so on
And Ava Chen. Hey, Ava: You're great
Contents
∏ Introduction
17
1.1 A Brief Overview of Actuation for Dynamic Legged Robots
18
I Proprioceptive Electric Actuators
1.1.2 Hydraulic Actuators
1.1.3 Series Elastic Actuators
20
1.2 Existing Modular robot Actuators
21
2 Modular Actuator
23
.1 Performance Requirements
24
2.2 Mechanical Design
2.2.1 Electric Motor
26
2.2.2 Housing and Planetary Gearbox
27
2.2. 3 Design for Impact: Estimating Transmission Loading During
Collisions
2.2.4 Bearing Loads
34
2.3 Motor Control Hardware
37
2.3.1 3-Phase Inverter
37
2.3.2 Logic Power, Gate Drive, Current Sensing, and Microcontroller) 40
2. 3. 3 Position Sensing.
ont
2. 4. Current and Torque Control
2.4.2 PoSition Sensor Calibration and Linearization
45
2.4.3 Actuator configuration and communication
47
2.5 Actuator Testing and Characterization
49
2.5.1 Steady-State Performance
49
②.5.210 rque Accuracy
51
2.5.3 Thermal Analysis
53
Quadruped plat, forml
57
3.1 Mechanical Design
58
3.e
58
2 Body
65
3.1.3 Feet
67
1. 4 wiri
68
3.2 Electronics and System architecture
69
3.2.1 Embeded Linux Computer
69
3.2.2 SPIne
70
3.2.3 Battery and Power Supplies
70
3.3 Control Experiments
74
3.⊥ Flipping.
74
Other Actuator Implementations
81
庄 Bilateral teleoperation and high-上 orce Haptics
81
4.1.1 Hardware
81
4.1.2 Bilateral Teleoperation
.82
阻L3 irtua Environments.
83
4.2 Biped for Human-Robot Balance Feedback
⑤_ Conclusion
87
Appendix A Code and Design Files
93
Appendix b Videos
95
APpendix C Discrete Time Current Controll
97
C 1 System Model in Continuous and Discrete Timel
97
C2 Controller desig
C3 Implementation in Code
102
C 4 MATLAB Gain Calculating Script
103
List of Figures
2-1 Assembled actuator
.24
2-2 Exploded view of the actuator.
26
2-3 Torque vs current(Left)and torque constant vs current(Right ).The
motor exhibits some saturation, with torque constant dropping by 12%
at maximum current」..
27
2-4 Stator(left)and rotor(right)of the brushless motor used in the actu-
ator. The rotor has been modilied to lit the sun gear of the planetary
transmission.
2-5 CroSs-sectional views of the actuator. On the left, bearings are high-
lighted in red, rotor in blue, and planet carrier in green.
2-6 Machined componcnts of the housing and planetary gearbox
2-7 Case 1: Actuator input compliance
31
2-8 Case 2: Actuator output compliance
32
2-9 Case 3: End effector compliance
32
2-10 PCB layout, front, and back of the inverter
38
2-ll Estimated steady-state MOSFet temperature vs peak phase current.39
2-12 View of the actuator with the housing open. The encoder IC which
measures rotor position can be seen at the center of the bearing on the
left half of the housing. The diametrically magnetized magnet it uses
is at the center of the rotor on the right
2-13 View of the connectors to the actuator. Two Xt-30 connectors are used
or DC input power, and two 3-Pin Molex pOx connectors are used
for CAN. Each pair of connectors is in parallel, so actuator modules
can be easily daisy-chained
42
2-14 Phase current step response for 10 and 20 Amp steps, measured by
external current probe. Current rise time is 75 us for 10A, and 110 As
for 20A due to motor inductance and voltage limitation. I
43
2-15 Maximum torque vs speed( Left)and power vs speed(Right), with and
without lield weakening」
45
2-16 1: Rotor angle and voltage vector angle during calibration. 2: Ro
tor angle minus voltage vector angle. 3: Averaged forwards and bac.
kwards error, with and without cogging torque FIR filter. 4: Calibra-
tion lookup tablel
······
46
2-17 Custom 4-quadrant motor dynamometer used to measure steady-state
performance and torque accuracy.
2-18 Efficiency M
2-19 Loss Map
2-20 Input Power Map. The red contour indicates the zero-power operating
points. Outside this region, the actuator sinks electrical power, and
inside this region the actuator sources power.
53
-21 Measured output torque vs torque command, averaged over several
rotations, for both positive and negative work.
54
2-22 Measured rotor cogging torque v s electrical angle.
2-23 Thermal camera images at 5A(left) and 125A (right) phase currents.
Colors do not correspond between images, as the temperature-color
mapping automatically scales.]
2-24 Winding temperature during a 10A step.
3-1 CAD Rendering of the quadruped
58
3-2 CAD Diagram of one leg
60
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