基于折叠式串联簧片的可调刚度致动器设计

doi:10.3901/JME.2017.17.070

机械工程学报 ›› 2017, Vol. 53 ›› Issue (17): 70-77.doi: 10.3901/JME.2017.17.070

基于折叠式串联簧片的可调刚度致动器设计

刘畅¹, 毕树生¹, 赵宏哲¹, 周晓东²

1. 北京航空航天大学机器人研究所北京 100191;
2. 北京控制工程研究所北京 100094

收稿日期:2016-04-05 修回日期:2017-01-23 出版日期:2017-09-05 发布日期:2017-09-05
通讯作者: 刘畅(通信作者),男,1989年出生,博士研究生。主要研究方向为可调刚度致动器。E-mail:liuchang_t@buaa.edu.cn
作者简介:毕树生,男,1966年出生,博士,博士研究生导师。主要研究方向为全柔性机构及仿生机器人。E-mail:ssbi@buaa.edu.cn
基金资助:
国家自然科学基金资助项目（51325504）

Novel Variable Stiffness Actuator Based on Folded Serial Leaf Springs

LIU Chang¹, BI Shusheng¹, ZHAO Hongzhe¹, ZHOU Xiaodong²

1. Robotics Institute, Beihang University, Beijing 100191;
2. Beijing Institute of Control Engineering, Beijing 100094

Received:2016-04-05 Revised:2017-01-23 Online:2017-09-05 Published:2017-09-05

摘要/Abstract

摘要： 可调刚度致动器能为机器人动态性能和人机交互安全性带来显著提升。在对常见簧片型变结构式刚度调节机理进行分析总结的基础上设计一种基于折叠串联型平行排布簧片组的新型旋转式可调刚度致动器，分析其刚度调节原理并介绍样机机械结构。针对实际刚度调节机构中簧片与滑块滚子的间隙，建立修正的关节旋转刚度解析模型。通过系统试验证明了模型的准确性和整体方案的可行性。折叠式串联簧片的应用使系统在有限的尺寸和足够的承载能力下获得了更大的刚度调节范围。簧片的平行排布设计则实现了多组柔性单元滑块滚子运动的同步及关节驱动与刚度控制的解耦。

关键词: 刚度模型, 簧片, 可调刚度致动器, 柔性关节

Abstract: Variable stiffness actuators can significantly improve the dynamic performance of robots and ensure safety in human robot interaction. An overview of different principles working on most structure controlled variable stiffness mechanisms is presented. The design of a novel variable stiffness actuator and its working principle is described. Considering the gap between leaves and rollers in the real mechanism, the analytical joint stiffness model is modified to get a more accurate estimation of the prototype. Experiments are conducted to validate the model and the feasibility of the design. The application of folded serial leaf springs leads to an increased stiffness range while the size and load capacity remains unchanged. Motion synchronization of rollers and the decoupling of joint motion and stiffness adjustment are easily achieved by the parallel assembling of leaves.

Key words: compliant joint, leaf spring, stiffness model, variable stiffness actuator

中图分类号:

TP242

刘畅, 毕树生, 赵宏哲, 周晓东. 基于折叠式串联簧片的可调刚度致动器设计[J]. 机械工程学报, 2017, 53(17): 70-77.

LIU Chang, BI Shusheng, ZHAO Hongzhe, ZHOU Xiaodong. Novel Variable Stiffness Actuator Based on Folded Serial Leaf Springs[J]. Journal of Mechanical Engineering, 2017, 53(17): 70-77.

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基于折叠式串联簧片的可调刚度致动器设计

Novel Variable Stiffness Actuator Based on Folded Serial Leaf Springs

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