一体化可变刚度关节结构设计与分析

为满足关节型机器人在非结构化工作环境中人机安全性与环境适应性,基于关节柔性生成机理与可变刚度关节构型特征,提出了一种新型一体化可变刚度关节。考虑到关节紧凑化、模块化与可主、被动刚度调节等设计需求,设计了凸轮型刚度调节机构作为关节刚度调节模块。基于关节数学模型提取关节刚度影响参数,在此基础上对关节主、被动刚度特性进行了分析。基于关节样机展开刚度调节性能实验,实验结果表明关节具有合理的刚度调节范围,以及动态运动过程中主、被动刚度调节能力,满足机器人工作过程中关节刚度变化需求。

Design and analysis of integrated variable stiffness joint structure

In order to meet the human-machine safety and environmental adaptability of joint robots in unstructured working environment, a new type of integrated variable stiffness joint is proposed based on the mechanism of joint flexibility generation and the characteristics of variable stiffness joint configuration. In view of the design needs of joint compactness, modularity and main, passive stiffness adjustment, cam-type stiffness adjustment mechanism is designed as a joint stiffness adjustment module. Based on the joint mathematics model, the effect parameters of joint stiffness are extracted, and the characteristics of joint main and passive stiffness are analyzed on this basis. Based on the joint sample to expand the stiffness adjustment performance experiment, the experimental results show that the joint has a reasonable stiffness adjustment range, as well as the dynamic movement process of the main and passive stiffness adjustment ability, to meet the needs of the robot during the process of joint stiffness changes.