摘要
提出了一种以板簧为弹性元件、以螺旋盘为刚度调节机构的变刚度关节驱动器,研究了该关节驱动器的刚度调节特性.建立了包括电机、同步带及谐波减速器的柔顺性和摩擦特性的动力学模型.通过位置阶跃和击球实验验证了动力学模型的正确性.研究表明变刚度关节驱动器的爆发性不仅与关节刚度有关,还与能量释放的时机有关,为提升机器人与人的交互作业的动态特性提供了理论依据.
A new variable stiffness joint actuator is proposed by using a plate spring as elastic element and spiral discs as stiffness adjusting mechanism, and the stiffness regulation characteristics of the joint actuator are also discussed. A dynamic model considering the compliance and friction characteristics of the motor, synchronous belt and harmonic reducer is established. The correctness of the dynamic model is verified by position step and ball-hitting experiments. The research shows that the explosion of variable stiffness joint actuator is related to not only the stiffness but also the release time of stored energy, which provides a theoretical basis for improving the robot's dynamic characteristics when interacting with human.
出处
《机器人》
EI
CSCD
北大核心
2017年第4期466-473,共8页
Robot
基金
国家自然科学基金(51305008)
关键词
变刚度
关节驱动器
动力学
爆发性
variable stiffness
joint actuator
dynamics
explosion
