Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However, the stiffness-enabling pressure preloads can form a tradeoff against bearing loading in some rolling diaphragm layouts, and transmission setup can be difficult. Utilization of cable drives compliment the rolling diaphragm transmission's advantages, but maintaining cable tension is crucial for optimal and consistent performance. In this paper, a coaxial opposed rolling diaphragm layout with cable drive and an electronic transmission control system are investigated, with a focus on system reliability and scalability. Mechanical features are proposed which enable force balancing, decoupling of transmission pressure from bearing loads, and maintenance of cable tension. Key considerations and procedures for automation of transmission setup, phasing, and operation are also presented. We also present an analysis of system stiffness to identify key compliance contributors, and conduct experiments to validate prototype design performance.

翻译：滚动隔膜传动在医疗和远程操作机器人中的应用备受关注，这是因为滚动隔膜的低摩擦特性与液压传动的功率密度和刚度优势相结合。然而，在某些滚动隔膜布局中，实现刚度的预压力载荷会与轴承负载形成折中关系，且传动系统的装配过程较为复杂。采用线缆驱动可补充滚动隔膜传动的优势，但维持线缆张力对于实现最优且一致的工作性能至关重要。本文研究了一种采用共轴对置滚动隔膜布局、结合线缆驱动与电子传动控制系统的方案，重点关注系统可靠性与可扩展性。提出了能够实现力平衡、将传动压力与轴承负载解耦、以及维持线缆张力的机械结构设计。同时给出了传动系统自动装配、相位调整和运行控制的关键考量与流程。本文还开展了系统刚度分析以识别主要柔度来源，并通过实验验证了原型设计的性能。