Symmetric type variable stiffness flexible actuator based on variable supporting point

Abstract

The invention discloses a symmetric type variable stiffness flexible actuator based on a variable supporting point. The symmetric type variable stiffness flexible actuator comprises a power input mechanism, a power output mechanism and two stiffness adjusting structures. The two stiffness adjusting structures are symmetrically arranged along the center of the power output mechanism; and a gear with an Archimedes spiral curve groove is used to adjust the supporting point and change the length of the arms of force of levers. A large range of stiffness adjustment can be achieved, the stiffness of the actuator can be adjusted from zero stiffness to complete rigidity, and the structure is more compact. The stiffness is changed by moving the supporting point, controlling is easier, and real-time synchronized adjustment of the output position and output stiffness of the actuator can be achieved.

Description

technical field [0001] The invention relates to a variable stiffness driver, in particular to a symmetrical variable stiffness flexible driver based on a variable fulcrum. Background technique [0002] In the field of robotics, there are hydraulic drive, pneumatic drive and motor drive, etc., and motor drive has the advantages of high precision, accurate control, and quick response, and has become a main drive method. With the development of robot technology, more and more attention has been paid to the research of rehabilitation assisting robots and assisting robots. These robots require higher safety and better adaptability to the environment in the process of human-computer interaction. However, the traditional motor drive is rigid, which may cause harm to the human body during the human-computer interaction process, and has poor adaptability to the environment. Using flexible actuators with variable stiffness can solve this problem well. [0003] In the process of desi...

AI Technical Summary

Problems solved by technology

At present, there have been some good achievements in the field of variable stiffness actuators at home and abroad, but there are still some problems: the mechanism of variable stiffness actuators is complicated, and the stiffness adjustment range is small.

[0004] After searching the existing technical documents, it is found that the Chinese invention patent application number 201010283564.2, the technical work develops a flexible joint with variable stiffness, including a micro-drive unit, a motor bracket, and an elastic unit. The stiffness is changed by changing the effective length of the elastic element. However, the effective length of the elasticity is limited, and the range of stiffness changes is limited.

[0005] Chinese Patent Application No. 20150355179.7, this technology discloses a flexible joint driving mechanism with adjustable stiffness, including a driving end, an adjusting end and a flexible joint. Change from large flexibility to complete rigidity, but the structure of the mechanism is complex and the size is too large

[0006] Chinese Patent Application No. 201310119858.5, this technology discloses a robot joint driver with variable stiffness, including a joint drive motor, a stiffness adjustment component, and an output end. The stiffness adjustment is realized by using a metal flexible rack. The structure is relatively compact and the stiffness range is comparative. Large, but the structure is more complicated, and the process of stiffness adjustment is complicated

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