机械式仿骨骼肌变刚度机构原理及设计_王颜.pdfVIP

第37 卷第4 期 机器人 ROBOT Vol.37, No.4 2015 年7 月 Jul., 2015 DOI ：10.13973/j.cnki.robot.2015.0506 机械式仿骨骼肌变刚度机构原理及设计 王 颜，房立金 （东北大学，辽宁沈阳 110819） 摘 要：随着物理性人机交互的增加，人机安全性等问题引起关注．应用于机器人关节中的机械式仿骨骼肌 变刚度机构因其能够模仿骨骼肌的变刚度特性，故可以解决人机安全性和未知环境适应性等问题．通过对国外机 器人变刚度关节结构设计的研究，总结了机械式仿骨骼肌变刚度机构的非线性变刚度原理，将其结构设计实现方 法分为5 类，并分析了这5 类结构设计实现的优缺点，为设计安全性高、适应性强的机器人提供参考和依据． 关键词：仿骨骼肌机构；机器人关节；变刚度特性；非线性 中图分类号：TP242 文献标识码：A 文章编号：1002-0446(2015)-04-0506-07 Principle and Design of Mechanically Musculoskeletal Variable-Stiffness Mechanism WANG Yan ，FANG Lijin (Northeastern University, Shenyang 110819, China) Abstract: With the growth of physical human-robot interface, the security of human-robot interface has attracted attention recently. Mechanically musculoskeletal variable-stiffness mechanisms applied to robot joints can solve the problems about human-robot security and unknown environmental adaptability by imitating the variable stiffness property of skeletal muscle. Many mechanism designs of variable stiffness joints of overseas robots are studied. The nonlinear variable stiffness principle of mechanically musculoskeletal variable-stiffness mechanisms is summarized. Mechanism design methods are classified into five categories, and their advantages and disadvantages are analyzed. The analysis results might provide references for designs of highly-safe and well-adapted robots. Keywords: mechanically musculoskeletal mechanism; robotic joint; variable stiffness property; nonlinearity [2] 1 引言（Introduction ） 屈肌和伸肌 ，当肘关节作屈肘运动时