Driving Torque Reduction in Linkage Mechanisms Using Joint Compliance for Robot Head  

作　　者：ZHONG Chunhao YANG Xiaojun 

机构地区：[1]Shenzhen Graduate School, Harbin Institute of Technology

出　　处：《Chinese Journal of Mechanical Engineering》2015年第5期888-895,共8页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant No.51105089);Shenzhen Engineering Laboratory of Industrial Robots and Systems(Grant No.A224412028);Shenzhen Engineering Laboratory of Performance Robots at Digital Stage(Grant No.[2014]1507)

摘　　要：The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in linkage mechanism can reduce the energy consumption isn＇t still studied deeply. In a mobile service robot head, the actions of blinking the eyes and moving the eyeballs are realized by the planar linkage mechanism respectively. Therefore, minimizing the driving torques through motion trajectories for the linkage mechanism, which will be beneficial to extend the working time for mobile service robots. The dynamic modeling of the linkage mechanism with springs-loaded compliant joint is established. An optimization procedure for obtaining the optimal parameters of springs is proposed for minimizing the max value of driving torques within a range of desired operating conditions. The Simulations prove that the linkage mechanism with compliant joints can effectively reduce the driving torques, and reduce the energy consumption consequently. The framework can also be applied in other similar applications to reduce the driving torque and save energy. Compared with previous efforts, this is the first attempt that the linkage mechanism with complaint joint is applied in the robot head for reducing the driving torque.The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in linkage mechanism can reduce the energy consumption isn＇t still studied deeply. In a mobile service robot head, the actions of blinking the eyes and moving the eyeballs are realized by the planar linkage mechanism respectively. Therefore, minimizing the driving torques through motion trajectories for the linkage mechanism, which will be beneficial to extend the working time for mobile service robots. The dynamic modeling of the linkage mechanism with springs-loaded compliant joint is established. An optimization procedure for obtaining the optimal parameters of springs is proposed for minimizing the max value of driving torques within a range of desired operating conditions. The Simulations prove that the linkage mechanism with compliant joints can effectively reduce the driving torques, and reduce the energy consumption consequently. The framework can also be applied in other similar applications to reduce the driving torque and save energy. Compared with previous efforts, this is the first attempt that the linkage mechanism with complaint joint is applied in the robot head for reducing the driving torque.

关 键 词：robot head compliant joint linkage mechanism driving torque reduction save energy 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]