多模式弹性驱动器的研制及特性分析  

Development and Characteristic Analysis of Multi-mode Elastic Actuators

作　　者：韩亚丽[1] 朱晓军 朱文亮 盛士强 吴应达 HAN Yali;ZHU Xiaojun;ZHU Wenliang;SHENG Shiqiang;WU Yingda(Department of Mechanical Engineering of Nanjing Institute of Technology,Nanjing,211167)

机构地区：[1]南京工程学院机械工程学院,南京211167

出　　处：《中国机械工程》2024年第12期2221-2230,2238,共11页China Mechanical Engineering

基　　金：国家自然科学基金(51205182);江苏省重点研发计划(BE2019724);江苏省研究生科研与实践创新计划(SJCX22_1052)。

摘　　要：针对目前刚性驱动器存在缓冲差、能耗大、驱动模式单一等问题,面向腿式机器人提出一款多模式弹性驱动器,采用电机带动丝杆螺母串联弹簧,并结合刹车装置,实现驱动器的多模式输出。首先根据腿式机器人膝关节的运动需求进行弹性驱动器设计;然后建立多模式弹性驱动器的刚柔耦合动力学模型,研究不同弹性系数及负载质量对驱动器输出性能的影响;最后,研制多模式弹性驱动器样机,搭建控制系统软硬件平台进行驱动器性能测试及其在机械腿中应用实验研究。实验结果表明,驱动器可实现模式之间的有效切换,且输出满足膝关节运动需求,验证了多模式弹性驱动器驱动性能的有效性。In response to the issues of poor buffering,high energy consumption,and single driving mode in current rigid actuators,a multi-mode elastic actuator for legged robots was proposed.The actuator utilized a motor to drive a screw nut in series with a spring,combined with a braking device,to achieve multi-mode output.Firstly,the design of the elastic actuator was based on the motion requirements of the knee joint in legged robots.Subsequently,a coupled rigid-soft dynamics model of the multi-mode elastic actuator was established to investigate the effects of different elastic coefficients and load masses on the output performance of the actuators.Finally,a prototype of the multi-mode elastic actuator was developed,and a control system hardware and software platforms were set up.Performance tests of the actuators and experimental studies of the applications in mechanical legs were conducted.The experimental results show that the actuators may effectively switch between modes,and the outputs meet the motion requirements of the knee joints,validating the effectiveness of the multi-mode elastic actuator's driving performance.

关 键 词：腿式机器人 弹性驱动器 动力学建模 虚拟样机仿真 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]