一种扭簧变刚度柔性关节的设计与研究

doi:10.3901/JME.2021.13.114

机械工程学报 ›› 2021, Vol. 57 ›› Issue (13): 114-123.doi: 10.3901/JME.2021.13.114

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一种扭簧变刚度柔性关节的设计与研究

曲祥旭, 曹东兴, 张姗

河北工业大学机械工程学院天津 300130

收稿日期:2020-07-20 修回日期:2020-12-24 出版日期:2021-07-05 发布日期:2021-08-31
通讯作者: 曹东兴(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为机械产品概念设计及过程建模。E-mail:cad408@sina.com
作者简介:曲祥旭,男,1990年出生,博士研究生。主要研究方向为机构学与机械动力学。E-mail:qxxedu@sina.com;张姗,女,1987年生,博士研究生,讲师。主要研究方向为机构学理论和方法设计。E-mail:zhangshantybj@163.com
基金资助:
国家自然科学基金（51875167）和河北省自然科学基金（E2018202114）资助项目

Design and Research of a Variable Stiffness Compliant Joint Based on Torsional Spring

QU Xiangxu, CAO Dongxing, ZHANG Shan

School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130

Received:2020-07-20 Revised:2020-12-24 Online:2021-07-05 Published:2021-08-31

摘要/Abstract

摘要： 变刚度关节由于其固有的柔性特征，可实现人与机器人在非结构化环境下的安全交互。针对扭簧扭转时中径发生改变提出了一种具有非线性刚度的紧凑型柔性关节，并满足常用的力作用情景“小载荷，低刚度；大载荷，高刚度”。首先，给出柔性关节模型，采用扭簧以及开口套作为基本弹性元件，通过调节螺母滑块的位置，使钢球挤压开口套并改变扭簧中径，实现对关节的刚度调节。其次，结合弹性变形理论，分析描述了柔性关节中弹性元件的力学本构方程和截面应力分布规律，得到关节的转角、扭矩及刚度间的关系。最后，根据关节转动不同角度以及施加不同载荷以获取扭矩与刚度变化的仿真数据，结果表明该柔性关节的设计是有效的，同时，可为研究该类扭簧变刚度的力学行为提供理论参考。

关键词: 柔性关节, 扭簧, 变刚度, 力学模型

Abstract: Human-robot safe interaction in unstructured environment can be realized by variable stiffness joints due to the intrinsic attribute of flexibility. A compact compliant joint with nonlinear stiffness is proposed at the change of pitch diameter of torsional spring, which is applicable to the common force scenario characterized by low load, low stiffness, high load and high stiffness. First, given the model design of the flexible joint with variable stiffness with torsional spring and the split sleeve as the basic elastic components, the position of the nut slider is adjusted to push the steel ball to squeeze the split sleeve and change the internal diameter of the torsional spring, thereby adjusting the stiffness of the joint. Second, the mechanical constitutive equation and the section stress distribution law of the elastic element in the joint model are analyzed and described according to the theory of elastic deformation, and the relations among the angle, torque and stiffness of the flexible joint are derived. Finally, the simulation data of torque and stiffness were obtained by rotating the joint to different angles and exerting different loads. The results show that the flexible joint is designed with effectiveness. At the same time, the research can serve as a theoretical reference for studying the mechanical behaviors of same type of torsional spring with variable stiffness.

Key words: compliant joint, torsional spring, variable stiffness, mechanical model

中图分类号:

TP242

曲祥旭, 曹东兴, 张姗. 一种扭簧变刚度柔性关节的设计与研究[J]. 机械工程学报, 2021, 57(13): 114-123.

QU Xiangxu, CAO Dongxing, ZHANG Shan. Design and Research of a Variable Stiffness Compliant Joint Based on Torsional Spring[J]. Journal of Mechanical Engineering, 2021, 57(13): 114-123.

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一种扭簧变刚度柔性关节的设计与研究

Design and Research of a Variable Stiffness Compliant Joint Based on Torsional Spring

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