一种可调刚度的三自由度柔性关节，助力滚动机器人实现自适应运动。
SPiralRoll: A Novel Adjustable-Stiffness Underactuated 3-DoF Joint with Torsion Springs for Rolling Robots
- 用弧形扭簧与双电机驱动，实现旋转、径向伸缩和轴向自旋三种运动。
- 全弧设计结构更稳，单弧设计变形更大，适合摆动驱动滚动。
- 3D打印成型，低成本高集成，适合轻量级柔性机器人应用。
柔顺机构在机器人中至关重要，能提升适应性、安全性与能效，并降低硬件复杂度。本文提出SPiralRoll，一种基于扭簧的欠驱动柔顺机构，适用于滚动机器人与柔顺驱动。该机构采用弧分布弹性元件与两个电机输入，实现三种可观测输出运动：旋转运动、径向扩张/收缩，以及由非线性柔顺变形引发的轴向自旋。开发了全弧与单弧两种结构，并进行了实验验证。除台架测试外，该机构还集成于球形滚动机器人中，初步实验证明其具备前进滚动与转向能力。结果表明，全弧设计提供更强结构支撑与更平滑变形，而单弧设计具有更大变形量与更强惯性激励，更适用于摆动驱动的滚动运动。总体而言，SPiralRoll为欠驱动柔顺滚动机器人及自适应机械关节提供了一种低成本、紧凑且完全3D打印的解决方案。
原文摘要 · Abstract (English)
Compliant mechanisms are important in robotics because they can improve adaptability, safety, and energy efficiency while reducing hardware complexity. This paper presents SPiralRoll, a novel torsion-spring-based underactuated compliant mechanism for rolling robots and compliant robotic actuation. The mechanism uses arc-distributed elastic members and two motor inputs to realize three physically observable output motions: rotational motion, radial expansion/contraction, and axial spin induced by nonlinear compliant deformation. Two configurations, namely full-arc and single-arc designs, are developed and experimentally evaluated. Beyond benchtop validation, the mechanism is integrated into a spherical rolling robot, where proof-of-concept experiments demonstrate forward rolling and turning. The results show that the full-arc design provides better structural support and smoother deformation, whereas the single-arc design yields larger deformation and stronger inertial excitation, making it more suitable for pendulum-driven rolling locomotion. Overall, SPiralRoll provides a low-cost, compact, and fully 3D-printable solution for underactuated compliant rolling robots and adaptive robotic joints.
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