• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (3): 55-62.doi: 10.3901/JME.2018.03.055

• 机构学及机器人 • 上一篇    下一篇

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主-被动复合变刚度柔性关节设计与分析

史延雷, 张小俊, 张明路   

  1. 河北工业大学机械工程学院 天津 300130
  • 收稿日期:2017-01-14 修回日期:2017-06-14 出版日期:2018-02-05 发布日期:2018-02-05
  • 通讯作者: 张小俊(通信作者),男,1980年出生,博士,教授。主要研究方向为足式机器人、特种机器人。E-mail:zxjun_80@163.com
  • 作者简介:史延雷,男,1988年出生,博士研究生。主要研究方向为柔性关节、足式机器人。E-mail:shiyanlei2014@126.com;张明路,男,1964年出生,博士,教授,博士研究生导师。主要研究方向为特种机器人。E-mail:zhangminglu@hebut.edu.cn
  • 基金资助:
    国家自然科学基金(61503119)和河北省优秀青年基金(YQ2014027)资助项目。

Design and Analysis of a Active-passive Variable Stiffness Flexible Joint

SHI Yanlei, ZHANG Xiaojun, ZHANG Minglu   

  1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130
  • Received:2017-01-14 Revised:2017-06-14 Online:2018-02-05 Published:2018-02-05

摘要: 为解决传统刚性机器人在特定领域应用受限问题,为其设计一款同时具有主、被动变刚度特性的复合式柔性关节。通过调查研究国内外变刚度柔性关节结构,对变刚度柔性关节按结构原理分为杠杆机构、凸轮机构两类,并基于凸轮机构原理,通过紧凑化设计实现了主-被动变刚度在同一关节的整合。建立该柔性关节数学模型,并对凸轮槽曲线进行了优化设计,得到了关节等效刚度随柔性变形量逐渐增大的凸轮槽曲线,在此基础上对柔性关节进行了刚度特性分析。对关节样机进行了静态刚度测量及动态抛掷试验,结果表明该变刚度柔性关节能够实现主、被动刚度调节功能,且在结构设计上适应现有机器人机构应用。

关键词: 变刚度, 机器人关节, 柔性关节

Abstract: In order to solve the limitation of traditional rigid robot application in specific fields, a composite flexible joint with active and passive variable stiffness characteristics is designed. By studying the structure of variable stiffness flexible joints at home and abroad, the variable stiffness flexible joint is divided into two kinds of lever mechanism and cam mechanism according to the structure principle. And based on the principle of cam mechanism, the integration of Active-Passive variable stiffness in the same joint is realized by the compact design. The curve of cam groove is optimized through establishing mathematical model, and the property that the equivalent stiffness of joints increases gradually with the flexible deformation is finally realized. On this basis, the stiffness characteristics of flexible joints are analyzed. The static and dynamic stiffness measurement experiments of the joint prototype were carried out and the experimental results show that the variable stiffness flexible joint can realize the active and passive stiffness adjustment function and adapt to the existing robot mechanism in structural design.

Key words: flexible joint, robot joint, variable stiffness

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