[1]张坤停,任子武,侯捷.基于曲柄滑块机构变刚度关节的设计与分析[J].机械与电子,2018,(09):77-80.
　ZHANG Kunting,REN Ziwu,HOU Jie.Design and Analysis of Variable Stiffness Joints Based on Crank-slider Mechanism[J].Machinery & Electronics,2018,(09):77-80.
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基于曲柄滑块机构变刚度关节的设计与分析()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年09期
页码:
77-80
栏目:
智能工程
出版日期:
2018-09-24

文章信息/Info

Title:
Design and Analysis of Variable Stiffness Joints Based on Crank-slider Mechanism
文章编号:
1001-2257(2018)09-0077-04
作者:
张坤停; 任子武; 侯捷
(苏州大学机器人与微系统研究中心 ,江苏 苏州 215000)
Author(s):
ZHANG Kunting; REN Ziwu; HOU Jie
(Robotics and Microsystems Research Center，Soochow University，Suzhou 215000,China)
关键词:
变刚度关节; 刚度调节机构; 曲柄滑块
Keywords:
variable stiffness joint;  stiffness adjustment mechanism;  crank-slider mechanism
分类号:
TH122
文献标志码:
A
摘要:
为了解决人机交互中的物理接触带来的刚性碰撞和安全隐患问题，以机器人关节模块为出发点，提出了一种新型变刚度关节。设计了变刚度关节的曲柄滑块刚度调节机构，分析了变刚度原理，建立了数学模型，搭建了样机，分别就关节刚度与关节偏转角度、板簧有效长度、调节机构输入角等参数关系进行了实验分析。实验证明，该方案可实现关节刚度的调节。
Abstract:
In order to solve the problems of rigid collision and potential safety hazards caused by physical contact in human-robot interaction, joint module was taken as a starting point, and a new type of variable stiffness joint was proposed. In this paper, the stiffness adjustment mechanism was designed, the variable stiffness principle was analyzed, and the mathematical model was established. Finally, the mechanical structure of the prototype was built, and the simulation analysis experiments were performed on the relationship between the joint stiffness, the angle of joint deflection, the effective length of the leaf spring, and the input angle of the adjustment mechanism. The simulation experiment results show that this scheme is feasible in realizing the mechanism of adjusting joint stiffness.

参考文献/References:

[1]Awad M I, Gan D, Cempini M, et al.Modeling, design & characterization of a novel Passive Variable Stiffness Joint (pVSJ)[C]// IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016:323-329.
[2]Oh Y T.Development of variable stiffness joint module to achieve safety collision of robot arm[J]. International Journal of Engineering and Technology, 2015,17(4): 1212-1218.
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[7]Choi J, Park S, Lee W, et al. Design of a robot joint with variable stiffness[C]//IEEE International Conference on Robotics and Automation, 2008:1760-1765.
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备注/Memo

备注/Memo:
收稿日期：2018-06-12
基金项目：国家自然科学基金资助项目（51675358）
作者简介：张坤停（1990-），男，河南商丘人，硕士研究生，研究方向为机器人关键零部件的结构设计；任子武（1976-），男，浙江义乌人，副教授，博士，研究方向为机器人运动控制，通信作者；侯捷(1994-),男，山西运城人，硕士研究生，研究方向为机械臂运动轨迹优化。
更新日期/Last Update: 2019-11-01