Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness

Abstract

The invention discloses a synchronous displacement adjustment type variable-stiffness joint driver. The synchronous displacement adjustment type variable-stiffness joint driver comprises a base, a swing arm position control assembly, a variable-stiffness adjustment assembly and an angular deviation measurement assembly, and is characterized in that the swing arm position control assembly is used for moving a swing arm to a specified equilibrium position point; the variable-stiffness adjustment assembly is used for changing the stiffness value of the driver according to the requirement of an actual task; the angular deviation measurement assembly is used for measuring and acquiring angular deviations for subsequent data processing and real-time stiffness control. The synchronous displacement adjustment type variable-stiffness joint driver is used for the variable-stiffness control of a robot joint, and can realize the flexibility of a driving system in terms of control without adding sensors, and thereby human safety is improved in the process of human-machine interaction. In addition, because of the special structural design, the energy consumption of a robot can be reduced, the joint structure is more compact, and good shock resistance and flexible dynamic characteristic lay a solid foundation for the movement of the robot in complex environments.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a variable stiffness joint driver, in particular to a variable stiffness joint driver using a leaf spring as an elastic link and an Archimedes spiral coil as a synchronous displacement adjustment mechanism. The invention also relates to a method for adjusting the joint stiffness of the robot. Background technique [0002] The joint driver is the core component of the robot, and its performance directly affects the overall performance of the robot. In order to achieve precise positioning and trajectory tracking, industrial robots often require joint drivers to have great stiffness. However, in the operations of grinding, assembling, screwing, etc., in order to prevent damage to the robot or the operated object due to excessive force with the environment during the operation, it is usually necessary to limit a certain amount of time while implementing position control. force in some direction...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a variable stiffness joint driver that can accurately and synchronously adjust the displacement of the fulcrum in order to address the shortcomings of the above-mentioned prior art that cannot achieve precise synchronous displacement adjustment. The rigidity adjustment range can effectively solve the problems of high energy consumption and poor environmental adaptability of existing robots

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