Spring-Based Linear Series Elastic Actuator

Abstract

The invention provides a linear series elastic driver based on compression springs. The driver comprises a coder, a servo motor, a driver base, a coupler, a bearing, a bearing rolling chassis, the compression springs, copper columns, a compression spring fixing top board, a compression spring fixing bottom board, an output shaft and a load connection unit. The coder is connected with the drive output shaft to measure the rotation angle at the load end. A flange plate of the servo motor is connected with the bearing rolling chassis. A linear rail is machined on the bearing rolling chassis, so that the output torque of the driver and the relative rotation angle between the motor and a load are in a linear relationship. Three threaded holes are formed in the compression spring fixing bottom board, wherein the angles between the three threaded holes are 120 degrees, each threaded hole is provided with the corresponding copper column, and the copper columns are sleeved with the compression springs. A load installation hole is reserved in a load connecting unit. The novel linear series elastic driver is high in energy density and linearization, a technological foundation is provided for designing a series elastic arm with the intrinsic safety characteristic and the joint buffering capacity, and the driver is quite high in research value and wide in application prospect.

Description

technical field [0001] The invention relates to a bionic driver, which is generally used in the field of robots. Background technique [0002] When robots interact with humans or the environment, force control techniques are required. At present, the force control technologies of robots include: 1. Active force control technology, which determines the input of robot joints through control algorithms and sensor information, so that the robot can generate appropriate output force to humans or the external environment. 2. Passive force control technology, through the design of elastic mechanism to buffer the external force. [0003] A drive is a device or mechanical device that converts other forms of energy into force, torque, velocity, or rotational speed. The robot driver should have the following characteristics: First, it should be light in weight, high in output power, capable of high energy density, and low in cost. In addition, in the process of interacting with peop...

AI Technical Summary

Problems solved by technology

[0005] The traditional series elastic driver usually uses a torsion spring directly connected in series between the motor and the load. Compared with the compression spring, the energy density of the torsion spring itself is relatively low

However, the mechanical structure of other series elastic actuators based on compression springs presents a complex nonlinear relationship between the torque output of the actuator and the relative angle between the motor and the load, which increases the difficulty of the force control of the actuator itself, which limits its application in robots. field application

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