一种旋转型机器人柔性关节设计与分析

摘要

通过对人类膝关节柔性产生机理研究，仿照动物关节肌肉肌腱组织设计出一种适用于电机驱动的旋转型柔性关节。通过研究对比旋转型 SEA(series elastic actuator)与直线型 SEA 机构特点，提出一种由8个压缩弹簧协同组成的柔性输出机构，并建立柔性输出机构刚度模型，确立了弹性元件参数与柔性关节等效刚度的数学关系。在此基础上，对柔性关节整体进行紧凑化设计，电机、减速器、柔性输出机构集中安装于关节部位，使柔性关节模块化、通用性强。通过对该柔性关节软件仿真及关节样机测试，验证了关节抗冲击能力和柔性输出能力可以满足柔性关节型机器人对柔性关节的应用需求。%According to the researches of the mechanism of flexibility of human knee j oint,the an-imal musculo-tendinous tissue was modeled to design a suitable motor-driven rotary-type robot flexi-ble j oint.Then,comparative mechanism characteristics of the rotary type and linear type SEA(series elastic actuator)were analyzed,a flexible output mechanism with eight interaction compression spring was proposed as the core of the compliant j oint,and based on this structure the relationship among j oint structure parameters and output stiffness was calculated.To achieve the j oint modularity,versa-tile,lighter and more compact,motor,reducer and flexible output mechanism centrally were installed in j oints.Software simulation and tests on a prototype j oint show that this j oint has impact property and flexible output capacity and may be applied to various robots with respect to its structure design and functions.