用缆线远程驱动行走机器人，突破恶劣环境应用瓶颈
Design and Development of a Remotely Wire-Driven Walking Robot
- 采用解耦关节串联结构实现缆线远程传动
- 实验验证了缆线驱动四足机器人可远程操控
- 适合核电等高危场景的远程作业需求
在人类难以进入或过于危险的环境中，机器人承担着关键任务。然而这些环境常对电子元件构成威胁。现有方案包括无电子元件的自主机器人、液压遥控移动机器人和缆线驱动机械臂。其中无电子元件机器人无法做出复杂决策，而液压与缆线驱动系统分别用于核设施等严苛环境。相比机械臂，移动机器人具有更远的可达性和避障能力；相较于液压，缆线系统适应性更广。但此前缆线驱动尚未用于移动机器人的远程控制。本文提出一种新型远程缆线驱动机制（Remote Wire Drive），通过解耦关节串联结构实现动力传输，并成功构建并验证了缆线驱动的四足机器人原型。
原文摘要 · Abstract (English)
Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components as well. To overcome this, various approaches have been developed, including autonomous mobile robots without electronics, hydraulic remotely actuated mobile robots, and long-reach robot arms driven by wires. Among these, electronics-free autonomous robots cannot make complex decisions, while hydraulically actuated mobile robots and wire-driven robot arms are used in harsh environments such as nuclear power plants. Mobile robots offer greater reach and obstacle avoidance than robot arms, and wire mechanisms offer broader environmental applicability than hydraulics. However, wire-driven systems have not been used for remote actuation of mobile robots. In this study, we propose a novel mechanism called Remote Wire Drive that enables remote actuation of mobile robots via wires. This mechanism is a series connection of decoupled joints, a mechanism used in wire-driven robot arms, adapted for power transmission. We experimentally validated its feasibility by actuating a wire-driven quadruped robot, which we also developed in this study, through Remote Wire Drive.
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