连续变刚度仿生驱动关节的设计与建模分析  

Design and Modeling of a Bionic Joint with Continuously Variable Stiffness

作　　者：廖峻北 伊烁闻 雷飞 刘思宇 郭朝 王志瑞 闫曈 党睿娜 LIAO Junbei;YI Shuowen;LEI Fei;LIU Siyu;GUO Zhao;WANG Zhirui;YAN Tong;DANG Ruina(School of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,Hubei,China;China North Artificial Intelligence&Innovation Research Institute,Beijing 100072,China;Collective Intelligence&Collaboration Laboratory,Beijing 100072,China)

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072 [2]中兵智能创新研究院有限公司,北京100072 [3]群体协同与自主实验室,北京100072

出　　处：《兵工学报》2023年第11期3269-3278,共10页Acta Armamentarii

基　　金：国家重点研发计划项目(2023YFE0202100);装备预先研究教育部联合基金项目(8091B022143);国家自然科学基金重点项目(91748211);群体协同与自主实验室开放基金项目(QXZ23013101)。

摘　　要：机器人仿生关节刚度连续变化功能的设计与控制是柔性驱动技术的难点问题。提出一种可连续变刚度的仿生驱动关节,该关节采用变力臂方式实现从低刚度到高刚度的连续变化,仿生驱动关节主副电机功率比大、结构紧凑。为了分析该仿生驱动关节的弹性变形与负载之间的刚度变化关系,建立有负载条件下的静力学方程,通过数值计算模拟得到关节刚度与主副电机的角度关系,并对仿生驱动关节进行力矩跟踪、阶跃响应和刚度跟踪3种实验。实验结果表明,新设计的变刚度驱动关节在16 N·m的正弦输出力矩下,最大误差为1.23 N·m,方差为0.19 N·m,最大误差占总幅值的7.7%;在刚度跟踪为0.4~1.6 N·m/(°)范围内、输出扭转角为5°时,误差最大为0.09 N·m/(°),占总均值刚度的9.0%。The design and control of continuous variation capability of robot bionic joint stiffness are the difficult problems in flexible drive technology.In this paper,a bionic joint with continuously variable stiffness is proposed,in which the continuous change from low stiffness to high stiffness is achieved by using a variable moment arm.The main and secondary motors of the bionic joint have large power ratio and compact structure.In order to analyze the relationship between the elastic deformation of bionic joint and the stiffness variation of load,a static model with load conditions is established,and the relationship between the joint stiffness and the angle of main and secondary motors is obtained through simulation.The experiments of torque tracking,step response and stiffness tracking are conducted on the bionic joint.The experimental results show that the bionic joint with continuously variable stiffness has a maximum error of 1.23 N·m with a variance of 0.19 N·m at a sinusoidal output torque of 16 N·m,with the maximum error being 7.7%of the total amplitude,and when the stiffness tracking is in the range of 0.4 N·m/(°)to 1.6 N·m/(°)for and the output torsion angle is 5°,the maximum error is 0.09 N·m/(°),accounting for 9.0%of the total mean stiffness.

关 键 词：变刚度驱动器 双电机驱动 仿生驱动关节 刚度控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]