Variable rigidity service robot joint

Abstract

The invention relates to the technical field of service robots, in particular to a service robot joint with variable stiffness, including a base, a drive unit, a position information collection unit, a rotary joint unit and a drive force collection unit, and the position information collection unit is coaxial with the upper end of the rotary joint unit Connection, the position information collection unit and the lower end of the rotary joint unit are respectively fixed on the base, the driving force collection unit is fixed on the rotary joint unit, one end of the driving unit is connected to the rotary joint unit, and the other end is connected to the driving force collection unit. The position information acquisition unit and the driving force acquisition unit are used to obtain the real-time stiffness of the variable stiffness joint system, and the accuracy of the stiffness of the flexible joint is guaranteed through a negative feedback system.

Description

technical field [0001] The invention relates to the technical field of service robots, in particular to a service robot joint with variable stiffness. Background technique [0002] At present, most of the robots on the market are composed of rigid materials and rigid drives. They have the advantages of good mechanical properties, execution speed, and simple precision control. However, this kind of rigid robot has limited flexibility and cannot adapt to the current increasingly complex working conditions. This also makes rigid robots only perform preset tasks in simple working environments such as specific production workshops and laboratories. It is difficult to apply in some complex, narrow and changeable environments. In an environment where human-computer interaction is required at any time, it is difficult for rigid robots to guarantee the personal safety of users. The variable stiffness flexible drive robot designed according to bionics can work well in such a complex...

AI Technical Summary

Problems solved by technology

This type of driving is affected by the auxiliary mechanism. The driver is usually designed to be large, and it needs to be leak-proof. It is not suitable for the environment that requires human-computer interaction.

[0004] At present, some colleges and universities use shape memory alloy wire (SMA) as the driver of flexible robots, but limited by the small shrinkage rate of shape memory alloy wire, it is difficult to realize a wide range of motion of flexible joints, so it is urgent to find a new flexible robot The driver of the joint, to make up for the lack of the above-mentioned driving method

Images