毕业设计论文-刚度可调关节结构设计精选.docx

编号题 目刚度可调关节结构设计学生姓名学 号学 院专 业班 级指导教师刚度可调关节结构设计摘 要随着科学技术的不断发展,人们的生产生活在追求更好质量，更低成本，更高效率的同时，对于产品精度和安全性的要求也越来越高，高效率，高自动化，高精度，高可靠性的机器人技术成为了至关重要的环节。现在的机器人技术主要采用刚性关节，控制精度高的同时，人机交互存在安全隐患，随着机器人环境友好、安全可靠的发展趋势,可变刚度关节成为了研究热点。变刚度关节能够缓冲碰撞,消除机械震荡,提高机器人对人和环境的安全性。因此，研究出具有类似人类肌肉特性的变刚度（柔性）关节对提高机器人的安全性、环境适应性以及未来更好地为人类服务具有重要的现实意义。在充分了解了国内外提出的各种变刚度关节设计模型和工作原理的前提下，本文重点分析了一种国外的叫做AwAS-II的变刚度关节。该关节是由两个拮抗放置的扭转弹簧连接到杠杆一端，使关节再受到外力时具备一定的柔度，再通过滚珠丝杠驱动杠杆的支点移动，来改变两侧力臂的大小，以达到改变刚度的目的。为此，本文使用solidworks软件绘制其三维模型，对AwAS-II的结构方案与运动学、动力学特性进行探索与仿真分析。关键词：柔性关节，刚度可调，杠杆，运动分析，仿真Structural Design of Joint with Adjustable StiffnessAbstractWith the continuous development of science and technology, our need to product accuracy and safety requirements are getting higher and higher, high efficiency, high automation, high precision , High reliability of the robot technology has become a vital link. Nowadays, the robot technology has the advantages of rigid joints and high control precision. At the same time, the human-computer interaction has the hidden danger. With the development trend of robot environment friendly, safe and reliable, the variable stiffness joint becomes the research hotspot. Variable stiffness joints can cushion the collision, eliminate mechanical shocks, improve the robot on the human and environmental safety. Therefore, it is of great practical significance to develop a variable stiffness (flexible) joint with similar human muscle properties to improve the safety, environmental adaptability and future better service of the robot.Under the premise of fully understanding the various variable stiffness joint design models and working principle proposed at home and abroad, this paper focuses on a kind of foreign variable joint called AwAS-II. The joint is composed of two antagonistic torsion springs connected to the end of the lever, so that the joint and then by the external force with a certain degree of flexibility, and then through the ball screw drive lever fulcrum movement, to change