基于差动轮系的变刚度执行器及变刚度柔性手爪  

Variable Stiffness Actuator and Variable Stiffness Flexible Gripper Based on Differential Gear Train

作　　者：龙奕琳 王彬峦 金弘哲[1,2] 徐威铭 赵杰[1,2] LONG Yilin;WANG Binluan;JIN Hongzhe;XU Weiming;ZHAO Jie(Institute of Robotics,Harbin Institute of Technology,Harbin 150000;State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150000)

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150000 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150000

出　　处：《机械工程学报》2023年第1期91-102,共12页Journal of Mechanical Engineering

基　　金：科技创新2030-“脑科学与类脑研究”重大项目课题(2021ZD0201403);国家自然科学基金集成项目“面向航空制造的人-机器人协作技术及应用研究”(92048301)资助项目。

摘　　要：结合差动轮系和杠杆原理设计了一种调刚范围从0~+∞的变刚度执行器,并完成了其结构优化设计和调刚能耗优化设计。该变刚度执行器具有变刚度范围大,调刚能耗需求低,占用空间小,易控制,响应速度快,可靠性强,技术实现可行性高等优点,具有一定的实际应用意义。在此基础上设计了一款欠驱动变刚度柔性手爪,将变刚度执行器作为手爪关节的驱动单元,通过调节变刚度执行器的刚度来改变手爪的刚度。最后,搭建了变刚度柔性手爪的硬件平台,对变刚度执行器进行了刚度测量,验证了所设计的变刚度执行器在进行刚度调节上的可行性。进行了变刚度柔性手爪的力控制实验,成功实现了对柔软物体的抓取。对变刚度柔性手爪的单指进行了性能分析,并验证了手指刚度与变刚度执行器刚度呈正相关关系,完成了变刚度柔性手爪性能实验验证。Combined with differential gear train and lever principle,a variable stiffness actuator with stiffness adjustment range from 0 to+∞is designed,and its structure optimization design and energy consumption optimization design are completed.The variable stiffness actuator has the advantages of large range of variable stiffness,low energy consumption demand for stiffness adjustment,small space occupation,easy control,fast response speed,strong reliability,high feasibility of technical implementation,and has certain practical application significance.On this basis,an underactuated flexible claw with variable stiffness is designed.The variable stiffness actuator is taken as the driving unit of the claw joint,and the stiffness of the claw is changed by adjusting the stiffness of the variable stiffness actuator.Finally,the hardware platform of variable stiffness flexible claw was built,and the stiffness of the variable stiffness actuator was measured,which verified the feasibility of the variable stiffness actuator designed for stiffness regulation.The force control experiment of flexible hand claw with variable stiffness is carried out,and the grasping of soft object is realized successfully.The performance of the single finger of the variable stiffness flexible claw is analyzed,and the positive correlation between the finger stiffness and the stiffness of the variable stiffness actuator is verified,and the performance experimental verification of the variable stiffness flexible claw is completed.

关 键 词：变刚度执行器 差动轮系 柔性手爪 手爪刚度 欠驱动 

分 类 号：TG156[金属学及工艺—热处理]