一种抗冲击四节点柔性关节的设计与分析

Design and analysis of an impact-resistant four-node flexible joint

康复的辅助训练可以大大缓解患者的伤痛,针对目前的机器人体积大、重量重且无法保证与患者交互的问题,提出了一种新型的四节点柔性机构的设计,用于吸收机械手臂的震动和保证患者的安全。运用拉格朗日方法对弹簧进行了动态分析,并且通过有限元软件对弹簧的应力和应变进行了分析,得到该柔性单元的安全系数为2.94,最小使用寿命为716.1 h。实验及研究结果表明:该柔性单元的最大应力为440 Mpa,最大变形量为3.19 mm;柔性单元的应力和变形量与扭矩呈线性关系,其最大的应变能量为0.546 MJ,其中与扭矩呈非线性关系,可用于机械手臂柔性连接,同时也为解决此类问题提供一种技术验证手段。

The assisted training of rehabilitation robots could greatly relieve the pain of patients.Aiming at the current large size,heavy weight and unable to guarantee interaction with patients,a new four-node flexible mechanism design was proposed to absorb the vibration of the robotic arm and ensure the safety of patients.The Lagrangian method was used to dynamically analyze the spring,and the stress and strain of the spring were analyzed by finite element software.The safety factor of this flexible element was 2.94 and the minimum service life was 716.1 h.The experimental results show that the maximum stress of the flexible element is 440 MPa,the maximum deformation is 3.19 mm,the stress and deformation of the flexible element are linearly related to the torque,and the maximum strain energy is 0.546 MJ,which is nonlinear with the torque.The relationship can be used for the flexible connection of the robotic arm,and it also provides a technical verification method for solving such problems.