一种旋转型机器人柔性关节设计与分析

摘要/Abstract

摘要： 通过对人类膝关节柔性产生机理研究,仿照动物关节肌肉-肌腱组织设计出一种适用于电机驱动的旋转型柔性关节。通过研究对比旋转型SEA（series elastic actuator）与直线型SEA机构特点,提出一种由8个压缩弹簧协同组成的柔性输出机构,并建立柔性输出机构刚度模型,确立了弹性元件参数与柔性关节等效刚度的数学关系。在此基础上,对柔性关节整体进行紧凑化设计,电机、减速器、柔性输出机构集中安装于关节部位,使柔性关节模块化、通用性强。通过对该柔性关节软件仿真及关节样机测试,验证了关节抗冲击能力和柔性输出能力可以满足柔性关节型机器人对柔性关节的应用需求。

关键词: 机器人, 柔性关节, 紧凑设计, 串联弹性驱动器

Abstract: According to the researches of the mechanism of flexibility of human knee joint, the animal musculo-tendinous tissue was modeled to design a suitable motor-driven rotary-type robot flexible joint. Then, comparative mechanism characteristics of the rotary type and linear type SEA(series elastic actuator) were analyzed, a flexible output mechanism with eight interaction compression spring was proposed as the core of the compliant joint, and based on this structure the relationship among joint structure parameters and output stiffness was calculated. To achieve the joint modularity, versatile, lighter and more compact, motor, reducer and flexible output mechanism centrally were installed in joints. Software simulation and tests on a prototype joint show that this joint has impact property and flexible output capacity and may be applied to various robots with respect to its structure design and functions.

Key words: robot, flexible joint, compact design, series elastic actuator

中图分类号:

TP242.6

史延雷, 张明路, 张小俊, 白丰. 一种旋转型机器人柔性关节设计与分析[J]. 中国机械工程.

Shi Yanlei, Zhang Minglu, Zhang Xiaojun, Bai Feng. Design and Analysis of a Rotary-type Robot Flexible Joint[J]. China Mechanical Engineering.

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