磁流变液柔顺关节的设计和运动学建模研究

摘要

针对传统刚性机器人关节在安全性和适应性方面明显不足等问题,基于磁流变技术提出了一种新型机器人柔顺关节原理,在传统的机器人关节刚性结构内部嵌入了磁流变传动机构,使其成为一种兼具刚性和柔性的关节结构.利用电磁仿真软件Ansoft Maxwell建立了磁流变液柔顺关节的仿真模型,进行了参数化设计.建立了柔顺关节可变刚度模型以及传递转角的运动学模型,并利用Matlab对理论模型进行了验证.仿真结果表明,关节输出转矩随着线圈电流的增大而近似线性增大;在相同时间内,当输入电流越大,转动角度越大,而且当工作时间增加后,转动角度的增幅增大.%Aiming at solving the problems of insufficient on security and adaptability for the traditional robot rigid joint,a new principle of robot soft joint based on magneto-rheological technology was proposed.The magneto-rheological transmission mechanism was embedded in the traditional joint,which combined rigidity with flexibility.The simulation model of the magneto-rheological fluid soft joint was established by Ansoft Maxwell software.Parametrization design was proceeded to optimize the mechanical scheme.The variable rigidity model of the proposed soft joint and the kinematic model for angle rotation were established.The theoretical model was verified by simulation with Matlab software.The results indicate that the angle approximately increases linearly as electric current increases and the angle increases faster when work time increases.