柔性机械臂变刚度关节的设计与仿真研究

摘要

Robots are widely used in people's production and life, and the contact between robots and human is more and more frequent. The security of human-computer interaction has attracted more attention. A vari-able stiffness joint of flexible Manipulator is proposed in this paper, the mechanical structure of variable stiffness joint is expounded, and the principle of variable stiffness joint is analyzed. Considering the influ-ence of the damping of motor and the equivalent moment of inertia of the transmission system, a more per-fect dynamics model of the joint is established, and the dynamic characteristics of the system are analyzed. Finally, based on Adams the collision test is simulated, the results show that the joint has the characteristics of buffering collision, and the designed variable stiffness joint can ensure the safety of human-computer in-teraction.%机器人广泛用于人们的生产生活中,机器人与人的接触也越来越频繁,人机交互的安全问题已经引起人们的重视.文章提出一种柔性变刚度机械臂关节,阐述变刚度关节的机械结构并对关节的变刚度原理进行分析,考虑电机阻尼和传动系统的等效转动惯量等影响,建立一种较为完善的关节动力学模型,分析系统的动态特性;最后基于Adams进行仿真碰撞试验,试验结果验证关节具有缓冲碰撞的特性,所设计的变刚度关节有利于保证人机交互的安全性.