How to choose the hardware for exoskeleton robots?
Recently, the Ministry of Industry and Information Technology issued the "Guiding Opinions on the Innovative Development of Humanoid Robots", and the notice of the Ministry of Industry and Information Technology on the issuance of the "Guiding Opinions on the Innovative Development of Humanoid Robots" has pushed the domestic humanoid robot industry to a climax. In recent years, many enterprises and institutions at home and abroad have released their own products. Each product is different, including hydrauloelectric hybrids and pure electromechanical ones, all with their own characteristics.
There are many classifications of exoskeletons: wearable exoskeletons, rehabilitation exoskeletons, flexible exoskeletons, and powered exoskeletons. At present, the first two types that can be seen on the market are the majority, and the degree of commercialization is also relatively high; the latter two are mainly for research and technology reserves.
Because humanoid robots are divided into the upper body and the lower body, the upper body usually does not have too high requirements for speed and explosive power, and is not much different from ordinary industrial joints. So let's focus on the lower body. Each project has different dynamic requirements for robots, but they all hope to be like humans, running, high jumping, long jumping, and occasionally doing a backflip. This places very high requirements on the joints, requiring the joints to be as light as possible while meeting the condition of sufficient torque, that is, the power density is high enough. This places relatively high requirements on each key component. Joints are generally composed of motors, reducers, encoders, and drivers.
First, Motors
1. frameless torque motor
The inner rotor direct drive motor is light in weight and compact in size. It has a relatively large torque of the same size and is more suitable for robot joints. This is a relatively new solution and also a relatively advanced one. However, the cost of the prototype is a bit high, and the batch price is more appropriate.
2. Outer rotor disc motor
The outer rotor motor is an older solution and was the earliest used solution. Because this type of motor is easy to integrate, but the insufficient torque is the biggest disadvantage, so few manufacturers' second-generation products have begun to be replaced with frameless torque motors.
Second, Reducers
Most of the reducers currently in use are harmonic reducers. Currently, the domestic Lvdi with relatively high cost performance is used. The better one is Harmonic Drive, but this kind of cost will be relatively high.
Third, Drivers
Many manufacturers of exoskeletons develop their own driver boards, and some also use mature products on the market, such as Israel's ELMO, the United States' COPLEY, and Germany's Sepkine, etc. Drivers require a short refresh cycle and low latency to avoid jitter in multiple joints. They are adapted according to the motor current, voltage, and encoder type. High power density is still the core element.
Fourth, Encoders
Low-cost and cost-effective encoders are preferred. If the position accuracy of the output end is not highly required, generally, a multi-turn absolute value is added at the motor end. There are many options available, including magnetic encoders, capacitive encoders, and inductive encoders.
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