Force moment zero-searching method for elastic drive joint

An elastic drive and joint technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high price, increased production cost, and small maximum rotation speed of absolute position sensors, so as to reduce production costs and simplify the structure. Effect

Active Publication Date: 2017-12-08
SIASUN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the motor speed is high, the absolute position sensor cannot meet the high speed requirements because the maximum rotational speed of the absolute pos

Method used

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  • Force moment zero-searching method for elastic drive joint
  • Force moment zero-searching method for elastic drive joint
  • Force moment zero-searching method for elastic drive joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] figure 1 It is a flow chart of a torque zeroing method for an elastically driven joint provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of measuring joint torque. This method can be performed by a SEA joint, and specifically includes the following steps:

[0026] Step 110, the elastically driven joint system is powered on, and the motor is started, wherein the elastically driven joint system includes a series motor, an elastic body, a transmission device and a transmission end, and an absolute position sensor arranged at the transmission end and an absolute position sensor arranged at the end of the motor incremental encoder;

[0027] Among them, the elastic drive joint system can be linear or rotary, and the rotary elastic drive joint system can also be disc type, cylinder type, etc.; the motor is the drive source of the elastic drive joint system, and the motor can be at any position Start; the elastic body can be a torsion...

Embodiment 2

[0058] figure 2 It is a flow chart for measuring joint torque in a torque homing method of an elastically driven joint provided in Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above-mentioned embodiments. After determining the relative angle between the power-on reference zero point and the absolute zero point of the incremental encoder, it also includes, when the motor rotates to the target position, obtaining the The target relative motor rotation angle measured by the incremental encoder and the target joint angle measured by the absolute position sensor; according to the target relative motor rotation angle, the target joint angle, the upper position of the incremental encoder The relative angle between the electrical reference zero point and the absolute zero point is used to determine the deformation amount of the elastic body at the target position; and the joint moment at the target position is determined according to the def...

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PUM

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Abstract

The invention discloses a force moment zero-searching method for an elastic drive joint. The method comprises the following steps of: systemically electrifying the elastic drive joint, and starting a motor; positively or negatively rotating the motor at low speed, and stopping rotation of the motor when current of the motor is greater than a current threshold value; obtaining feature motor current when the motor reaches a feature point, a feature relative motor rotation angle measured by an incremental coder and a feature joint angle measured by an absolute type position sensor in a rotation process of the motor; and determining a relative angle between an electrifying reference zero point and an absolute zero point on the incremental coder according to the feature motor current, the feature relative motor rotation angle, the feature joint angle as well as a pre-determined first feature relative angle when the motor reaches a feature point and an absolute zero point at the first time after starting. The force moment zero-searching method disclosed by the invention realizes zero-searching of the incremental coder, so that the incremental coder can be used for measuring deformation amount of an elastomer; and moreover, an SEA joint structure is simplified, and the production cost is reduced.

Description

technical field [0001] Embodiments of the present invention relate to joint drive technology, and in particular to a torque zeroing method for elastic drive joints. Background technique [0002] Joint bionic drive technology has become an important research direction in the field of robotics, and as a force output drive device with flexible drive and bionic drive capabilities, Series Elastic Actuator (SEA) is widely used in the field of robotics. [0003] When the SEA joint needs to have torque feedback and double closed-loop arrangement at the same time, three position sensors are generally required: an incremental encoder is used to measure the motor speed, and two absolute position sensors are used to measure the joint rotation angle and elastic body deformation respectively. [0004] In some cases, an absolute position sensor can be used instead of an incremental encoder, thereby eliminating the need for an incremental encoder, so that only two absolute position sensors ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1633B25J13/088
Inventor 杨跞冷正飞李庚益彭放苗燕楠
Owner SIASUN CO LTD
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