• CN:11-2187/TH
  • ISSN:0577-6686

›› 2014, Vol. 50 ›› Issue (13): 16-21.

• 论文 • 上一篇    下一篇

机器人关节用挠性驱动单元研制与负载特性试验

吴伟国;侯月阳   

  1. 哈尔滨工业大学机电工程学院
  • 发布日期:2014-07-05

Development and Load Characteristic Experiments of Flexible Driven Unit for Robots Joint

WU Weiguo;HOU Yueyang   

  1. School of Mechatronics Engineering, Harbin Institute of Technology
  • Published:2014-07-05

摘要: 柔性驱动应用范围越来越广泛,与刚性驱动相比,柔性驱动在吸振,减缓冲击,以及能量存储方面更有优势,因此设计一种机器人关节用模块化挠性驱动单元,其特点是采用钢丝绳导引,动滑轮组增力,模块化便于安装,挠性输出。提出基于黏弹性动力学的钢丝绳张力计算方法,该方法对于采用多级动滑轮组机构的机械系统有效,结合双足机器人步行仿真的数据进行计算,其结果用于选择挠性驱动单元中安装的张力传感器和钢丝绳。研制挠性驱动单元与加载试验装置,并搭建控制系统,通过关节编码器进行关节位置反馈,从而实现位置全闭环。加载试验与速度试验结果表明该驱动单元能够在空载情况下达到6 r/min的速度,频响为2 Hz,而在负载11.2 N•m力矩时达到5 r/min的速度,频响为1.3 Hz。

关键词: 机器人;挠性驱动单元;动力学;绳驱动;样机研制

Abstract: Compared to the rigid actuator, flexible actuator can absorb some external shock leading to effective protection of mechanisms, and reduce the systems inertia as well as store energy. In order to ensure quality light, vibration absorption, the steel rope is used as a flexible transmission part, a flexible drive unit is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. A algorithm for tension of steel rope based on viscoelastic dynamic is proposed, which is suitable for mechanical system installed on movable pulley blocks. According to the walking simulation results, the tension sensors and steel rope are chosen. Flexible drive unit and its load device are developed and the control system is built. Full closed loop for position is achieved through the joint encoder feedback. Loading experiments and speed experiment results show that in the no-load case, flexible drive unit can reach the speed of 6 r/min and the frequency response of 2 Hz, while in the case of loading 11.2 N.m flexible drive unit can reach the speed of 5 r/min and the frequency response of 1.3 Hz.

Key words: robot;flexible drive unit;dynamics;steel rope drive;prototype development

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