基于串联弹性驱动器的柔顺机械臂设计与仿真

Design and Simulation Analysis of a Compliant Robotic Arm Based on Series Elastic Actuator

基于串联弹性驱动器(SEA)提出了一种三自由度柔顺机械臂的设计方案,用来模拟人手臂的运动,提高其对环境的适应力,实现良好的柔顺性。利用三维造型软件Inventor建立了三自由度柔顺机械臂的三维模型;针对柔顺机械臂关节提出了一种具有拮抗形式的弹性驱动方法,采用主动驱动弹簧和被动约束弹簧构成柔性张拉弹簧组合,以模拟肌肉-肌腱组织的收缩运动;通过动力学仿真软件Adams进行了驱动仿真分析和静动态冲击实验,结果表明在受到冲击时,柔性关节可以产生较大的柔性转角并快速衰减到稳定的运动状态,证明了该机械臂可以有效减小冲击,具有良好的柔顺性。

Based on the series elastic actuator(SEA),a design scheme of a three-degree-of-freedom compliant robotic arm is proposed to simulate the movement of the human arm,improve its adaptability to the environment and achieve good flexibility.A three-dimensional model is established by Inventor.To simulate the contraction movement of muscle-tendon tissue,an elastic driving method with antagonistic form is proposed for the compliant bionic arm joint which is forming a flexible tension spring combination with active drive spring and passively constrained spring.The driving simulation analysis and static/dynamic impact experiments are carried out by Adams.The results show that the flexible joints can produce a large flexible corner and quickly decay to a stable motion state when subjected to impact.It proves that the robotic arm can effectively reduce the impact and has good flexibility.