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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 kind of variable stiffness joint actuator with leaf spring as elastic element and spiral disk as stiffness adjustment mechanism was proposed.The stiffness adjustment characteristics of the joint driver were studied.The flexibility including the compliance of motor, timing belt and harmonic reducer, The dynamic model of the friction characteristic is verified by the position step and the ball hitting experiment.The research shows that the explosiveness of the variable stiffness joint actuator is not only related to the joint stiffness but also related to the timing of the energy release, The dynamic characteristics of interaction with people provide the theoretical basis.