基于多弹簧片的变刚度柔性关节的设计与研究  

Design and Research of Variable Stiffness Flexible Joint Based on Muti-spring Leaf

作　　者：程辉煌 林义忠[1] 胡志强 CHENG Huihuang;LIN Yizhong;HU Zhiqiang(School of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,南宁530004

出　　处：《三峡大学学报（自然科学版）》2024年第5期91-95,共5页Journal of China Three Gorges University：Natural Sciences

基　　金：国家自然科学基金项目(61963005)。

摘　　要：机器人碰撞防护是必要的,人机交互安全是机器人设计的重要指标之一.本文基于双滑块和滚珠丝杆机构,提出了一种含有4弹簧片的闭环伺服可变刚度柔性关节.根据悬臂梁结合模型的非线性静力学关系,导出了关节刚度随弹簧片有效长度变化的表达式,以变刚度的动力模型为基础,设计了可编辑逻辑控制器刚度调节控制系统.在完成了变刚度关节的设计制作基础上,进行了关节的变刚度实验,验证了刚度控制系统的可靠性和刚度计算模型的正确性.该关节具有实时动态的刚度调节功能,可以满足机器人碰撞防护的安全保护需求.Robot collision protection is a necessity.The safety of human-computer interaction is one of the important indexes for robot design.Based on the mechanism of double sliders and ball screw,a closed-loop servo variable stiffness flexible joint with four springs is proposed in this paper.According to the nonlinear static relationship of the cantilever beam joint model,the expression of joint stiffness changing with the effective length of spring leaf is derived.The stiffness adjustment control system of editable logic controller is designed based on the dynamic model with variable stiffness.Meanwhile,based on the design and manufacture of variable stiffness joint,the variable stiffness experiment of the joint is carried out to verify the reliability of the stiffness control system and the correctness of the stiffness calculation model.The joint has the function of real-time dynamic stiffness adjustment,which can meet the safety protection needs of robot collision protection..

关 键 词：机器人 滚珠丝杆机构 弹簧片 柔性关节 变刚度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]