A permanent magnet variable stiffness flexible joint for robots

Abstract

The invention belongs to the technical field of flexible robots, and provides a permanent magnet variable-stiffness flexible joint for a robot, wherein the permanent magnet variable-stiffness flexiblejoint is capable of simulating nolinear variable-stiffness muscle features of a bionic joint. A permanent magnet variable-stiffness mechanism is adopted as a stiffness adjusting component, a rope isused as force and motion transmission component, the stiffness changes along with change of air gaps between permanent magnets, by means of actions of a motor, a rope winch and a guide pulley, force and position decoupling of ropes at the two sides of a manipulator, so that only joint rotating angle instead of joint stiffness is changed, and namely the joint position is adjusted under the equal-stiffness condition; the effect of just changing joint stiffness instead of the joint position can be achieved, and work under corresponding stiffness condition is achieved according to different working conditions. The permanent magnet variable-stiffness flexible joint for the robot is concise in motion form, convenient to manufacture and easy to operate.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, in particular to a permanent magnet variable stiffness flexible joint for robots, which is used to construct antagonistic flexible variable stiffness robots, and is especially suitable for the construction of bionic robot joints. Background technique [0002] The flexible variable stiffness robot is a kind of flexible robot with adjustable stiffness which is different from the traditional rigid robot. The self-adjustable stiffness can greatly improve human-machine safety and environmental adaptability, and has become an important direction for the future development of robots. [0003] From the perspective of sports biomechanics, muscles are the source of dynamics of the human motion system, and they maintain or complete actions through muscle scaling. There are two scaling forms of skeletal muscles. During the scaling process, the muscle tension does not change, and the length changes, c...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems existing in the prior art, the present invention provides a permanent magnet variable stiffness flexible joint assembly for robots, which can simulate joints with nonlinear variable stiffness muscle characteristics, and can effectively improve the safety of traditional robots with low human-computer interaction and poor environmental adaptability Shortcomings;

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