面向足式机器人的新型可调刚度柔性关节的设计及性能测试  

Design and Testing of a Novel Joint with Adjustable Stiffness for Legged Robot

作　　者：尹鹏[1] 李满天[1] 郭伟[1] 王鹏飞[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机器人》2014年第3期322-329,共8页Robot

基　　金：国家863计划资助项目(2011AA404701);国家自然科学基金资助项目(61005076);机器人技术与系统国家重点实验室自主课题(SKLRS201006B)

摘　　要：为提高足式机器人的运动适应能力,为其设计了一款具有刚度连续调节功能的新型柔性旋转关节.通过研究杠杆机构输出刚度与传动比的对应关系,提出以变传动比杠杆机构作为核心部件进行可调刚度柔性关节的设计.文中对关节的结构以及关节驱动方式等进行了紧凑化设计,以满足足式机器人系统对体积及重量的要求.在设计中通过分析关节输出刚度系数与关节相关结构参数之间的关系,为关节输出刚度调节选择了较为敏感的参数调节范围,提高了刚度调节的灵敏性.在此基础上,通过开展机构运动学分析,确定了关节机构的理论刚度输出固有特性.关节样机测试表明,该调节机构能够实现关节输出刚度的调整和有效控制,该关节在结构设计以及功能方面均可以满足在足式机器人腿部结构中的应用需求.In order to enhance the locomotion adaptability of legged robots, a novel compliant rotational joint with contin-uously adjustable stiffness is designed. To achieve this, the relation between transmission ratio and output stiffness of lever mechanism is analyzed, and the lever mechanism with variable transmission ratio is utilized as a core functional module in the design of the compliant joint with adjustable stiffness. The joint is designed to be light weight and compact in size, and the joint’s mechanisms as well as driving module are specified for practical applications to legged robots. The relationship between joint structure parameters and output stiffness is analyzed, and the range of the relevant parameter is selected so that the output stiffness can be sensitive to the parameter change. The natural stiffness characteristics of the joint are further de-termined based on kinematic study. Tests on the prototype joint show that the output stiffness can be adjusted and controlled effectively by the adjusting-mechanism, and the joint can be applied to robotic legs with respect to its structure design and functions.

关 键 词：足式机器人 柔性关节 刚度调整 杠杆机构 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]