变刚度关节驱动器动力学特性的分析与研究-机器人.pdfVIP

第39 卷第4 期 机器人 ROBOT Vol.39, No.4 2017 年7 月 Jul., 2017 DOI ：10.13973/ki.robot.2017.0466 变刚度关节驱动器动力学特性的分析与研究 付小月，王 伟，王 雷，魏洪兴，贠 超 （北京航空航天大学机械工程及自动化学院，北京 100191） 摘 要：提出了一种以板簧为弹性元件、以螺旋盘为刚度调节机构的变刚度关节驱动器，研究了该关节驱动 器的刚度调节特性．建立了包括电机、同步带及谐波减速器的柔顺性和摩擦特性的动力学模型．通过位置阶跃和 击球实验验证了动力学模型的正确性．研究表明变刚度关节驱动器的爆发性不仅与关节刚度有关，还与能量释放 的时机有关，为提升机器人与人的交互作业的动态特性提供了理论依据． 关键词：变刚度；关节驱动器；动力学；爆发性 中图分类号：242.6 文献标识码：B 文章编号：1002-0446(2017)-04-0466-08 Analysis and Study on Dynamical Characteristics of Variable Stiffness Joint Actuator FU Xiaoyue ，WANG Wei ，WANG Lei ，WEI Hongxing ，YUN Chao (School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China) Abstract: A new variable stiffness joint actuator is proposed by using a plate spring as elastic element and spiral discs as stiffness adjusting mechanism, and the stiffness regulation characteristics of the joint actuator are also discussed. A dynamic model considering the compliance and friction characteristics of the motor, synchronous belt and harmonic reducer is established. The correctness of the dynamic model is verified by position step and ball-hitting experiments. The research shows that the explosion of variable stiffness joint actuator is related to not only the stiffness but also the release time of stored energy, which provides a theoretical basis for improving the robot’s dynamic characteristics when interacting with human. Keywords: variable stiffness; joint actuator; dynamics; explosion 1 引言（Introduction ） 研究中，动力学模型逐渐丰富，形成了多条弹簧