机器人驱动机构中弹性元件功能分析及刚度设计  

Functional Analysis and Stiffness Design of Elastic Components in the Robot Drive Mechanism

作　　者：段军涛 苏智剑[1] 时海涛 DUAN Jun-tao;SU Zhi-jian;SHI Hai-tao(School of Mechanical Engineering,Zhengzhou University,He’nan Zhengzhou450001,China)

机构地区：[1]郑州大学机械工程学院

出　　处：《机械设计与制造》2019年第9期240-243,248,共5页Machinery Design & Manufacture

摘　　要：为了研究弹性元件在仿人机器人腿部弹性驱动机构中的具体功能,并选择合适刚度的弹性元件,以典型的弹性驱动器为基础,建立了弹性驱动器的位置源驱动模型以及仿人机器人小腿弹性驱动机构模型。对驱动机构重要参数进行优化,确定最优参数值,在给定转角范围内,通过仿真计算分别得到转角和驱动力与驱动位移关系图。对比不同弹簧刚度下的关系曲线,利用MATLAB函数确定最优刚度值,得出在合适的弹簧刚度下,弹性元件具有增强机器人小腿驱动稳定性和精确性的功能的结论。In order to study the specific function of the elastic element in the driving mechanism of humanoid robot,and select the appropriate stiffness of the elastic element.On the basis of typical elastic actuator,the position source drive model of elastic actuator and the leg mechanism model of humanoid robot are established.The important parameters of the driving mechanism are optimized,and the optimal parameters are determined.Within the given rotation angle range,the relation graphs of the rotation angle,driving force and driving displacement are obtained by simulating calculation.,respectively.The relation curves under different spring stiffness are compared,it is concluded that the elastic element has the function of enhancing the stability and accuracy of the robot leg under the appropriate spring stiffness,and the proper spring stiffness is selected according to the rotation angle and the driving displacement stroke.

关 键 词：弹性元件 弹簧刚度 最优刚度值 稳定性 精确性 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]