关键词: 柔性关节, 弹性组件, 力学建模, 旋转刚度

Abstract: A method for designing elastic components for flexible joints was designed, the design concept and design approach of the cross spring sheet-type elastic components was proposed. Firstly, the structure composition of the flexible joints was planned, the mechanics models of elastic components were established based on beam constraint conditions and constitutive relationships, the specific items of the flexibility matrix and stiffness matrix were determined, and the dynamics modeling of the motion end of the flexible joints was performed simultaneously. Next, instances of the elastic components was designed, and the design was validated through finite element analysis, the modal frequencies and mode displacement of the flexible joints during motion were simulated. Finally, an experimental system was set up to test the designed instances of the elastic components, and the rotational stiffness was calculated. Through cross-validation and analysis of three sets of data samples, the results show good consistency between the theoretical, simulated, and experimental values of the designed elastic components, with a maximum error of 7.59% in the first set, 4.32% in the second set, and 6.70% in the third set. This indicats the feasibility of designed elastic components using beam constraint theory and constitutive relationships. The proposed elastic joint elastic components are versatile and may be applied to articulated robotic arms and to rehabilitation robots and bionic robots, providing a new approach to the design of flexible joints for robots.

Key words: flexible joint, elastic component, mechanics modeling, rotational stiffness