摘要
针对本科生和研究生关于共融机器人的教学需求,采用基于阿基米德螺旋移位原理的支点调节机构具体化变刚度方案,研制了一套具有“模块化程度高、刚度调节范围宽、具有可拓展性”等优点的机器人变刚度柔性关节实验装置。该装置可用于关节刚度标定、关节刚度调节等实验教学,涵盖机械原理、机械设计、传感与测试技术、机电伺服系统设计等课程内容,有助于学生深入了解共融机器人特性,进一步提升学生的实践动手能力。
Aiming at the teaching needs of the coexisting-cooperative-cognitive robot,a set of variable stiffness joint for robot experimental device with the advantages of high modularity,wide stiffness adjustment range,and expansibility is developed by using pivot adjustment mechanism based on Archimedes spiral relocation principle.The device can be used to carry out the experimental teaching of joint stiffness calibration and stiffness adjustment,covering the course contents of mechanical principle,mechanical design,sensing and testing technology,electromechanical servo system design,etc.It helps students to understand the characteristics of the coexisting-cooperative-cognitive robot and further improve their practical ability.
作者
崔士鹏
黄文涛
魏承
刘佳男
谷海宇
CUI Shipeng;HUANG Wentao;WEI Cheng;LIU Jianan;GU Haiyu(School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China;School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)
出处
《实验室研究与探索》
CAS
北大核心
2023年第12期63-67,共5页
Research and Exploration In Laboratory
基金
黑龙江省高等教育教学改革研究重点委托项目(SJGZ20210017)
黑龙江省高等教育教学改革研究项目(SJGY20210259)。
关键词
共融机器人
变刚度柔性关节
实验装置
实验教学
coexisting-cooperative-cognitive robot
variable-stiffness flexible joint
experimental device
experimental teaching
