机器人可变刚度柔性关节设计分析与试验研究-机械工程专业论文.docxVIP

万方数据 万方数据 Abstract With more and more service robots and industrial robots cooperate with human beings, there is an urgent need for a robot system that is environment friendly and does not cause harm when used in cooperation with people. And it is a hot spot and difficulty problem with the development of robot technology to realize the design and control of the security system for the worker in contact with robots interaction at present. It is significant to do researches on variable stiffness elastic actuator because it can not only ensure the safety of human in cooperation work with robot but also promote the performance of robot with complex work. So with the development of service robots and industrial robots, the variable stiffness of flexible joint has attracted more and more attention. In this paper, a variable stiffness flexible rotating joint was designed based on the leaf spring after doing researches on flexible joints. Firstly, the joint stiffness regulation principle was proposed and the theoretical model of variable stiffness elastic actuator was analyzed after reviewing the works of other researchers. The mechanical structure was designed according to the design requirements of the joint. Then elastic element was analyzed and designed as it plays an important role in the performance of the joint. The characteristics of variable stiffness was analyzed after establishing the mathematical model of the joint. Secondly, the hardware circuit of the control system was designed based on the physical structure of the joint, and the control strategy was proposed according to the method of changing stiffness. Finally, the testing platform for the joint was assembled to verify the correctness of the designed control system. And a series of experiments were conducted based on the testing platform. The characteristic of variable stiffness of the joint was confirmed by analyzing the experimental data. Keywords: robot joint; variable stiffness; flexible joint II 目