机器人变阻尼柔顺驱动关节设计  

Design of robot compliant driving joint with variable damping

作　　者：冯志友[1] 许文斌 智德 康荣杰[2] 陈丽莎[1] FENG Zhi-you;XU Wen-bin;ZHI De;KANG Rong-jie;CHEN Li-sha(chool of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300354,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津大学机构理论与装备设计教育部重点实验室,天津300354

出　　处：《天津工业大学学报》2019年第5期76-81,共6页Journal of Tiangong University

基　　金：国家自然科学基金资助项目(51605329,51875393);天津市自然科学基金资助项目(17JCQNJC03600);天津市高等学校创新团队培养计划资助项目(TD13-5037)

摘　　要：为解决传统机器人柔顺关节存在的振动及控制精度低的问题,利用流体节流原理设计了一个新型变阻尼柔顺驱动关节,以便调节运动过程中系统的动态性能,实现振动抑制。该驱动关节在传统柔顺驱动器的基础上,并联设置一个粘滞阻尼可调模块;通过曲柄滑块机构遮挡液压节流孔的通流面积,从而改变关节系统输入端与输出端之间的阻尼系数;推导变阻尼模块和完整驱动关节的数学模型,给出变阻尼柔顺关节的控制器结构,并进行仿真和实验验证。结果表明:该机器人变阻尼柔顺驱动关节能够在不降低响应速度的情况下减少振动,当取合理阻尼值时关节可在0.5s内达到稳定值,且响应超调量减少50%以上。To solve the problem of vibration and low control precision of traditional robotic compliant joints,a new variable damping compliant driving joint was designed by using the fluid throttling principle. It can adjust the dynamic performance of system and suppress vibration during motion. The presented joint implemented a viscous damping adjustable module in parallel with the conventional series elastic actuator. The flow area of the hydraulic orifice was blocked by a crank slider mechanism,thereby changing the damping coefficient between the input and output of the system. The mathematical models of the variable damping module and the entire driving joint were derived. The control structure of the compliant joint with variable damping was given,and validated by simulations and experiments. The experimental results show that the presented robot compliant driving joint can significantly reduce the vibration without losing response speed. Given an appropriate damping coefficient,the joint can reach a stable state in 0.5 s and the overshoot is reduced by more than 50%.

关 键 词：机器人 可变粘性阻尼 柔顺驱动关节 振动抑制 

分 类 号：TP216[自动化与计算机技术—检测技术与自动化装置]