Variable-rigidity flexible joint based on leaf springs and control method of variable-rigidity flexible joint

Abstract

The invention discloses a variable-rigidity flexible joint based on leaf springs. The variable-rigidity flexible joint based on the leaf springs comprises an input shaft, an output shaft, a rigidity adjustment mechanism, a displacement detection system and a control system. The input shaft comprises a first input shaft body and a second input shaft body. The output shaft comprises a first output shaft body, a second output shaft body and an output end cover. The rigidity adjustment mechanism comprises a control motor, an indexing disc, a connecting rod set, a leaf spring set and a sliding block set. The input shaft and the output shaft are matched through a revolute pair and are fixed in the revolute pair. The rigidity adjustment mechanism is installed on the output shaft. The control motor of the rigidity adjustment mechanism is fixed to the bottom of the first output shaft body. The leaf spring set is fixed to the inner side of the second output shaft body. The sliding block set is installed in sliding grooves of the second output shaft body. The variable-rigidity flexible joint based on the leaf springs is simple in structure, can be made small and is easy to control; and meanwhile, the rigidity can be adjusted linearly, the adjustment precision is high, errors are small, and the application range is wide.

Description

technical field

[0001] The invention relates to a flexible joint, in particular to a flexible joint with variable stiffness based on a leaf spring and a control method thereof, belonging to the technical field of robots. Background technique

[0002] Robot technology and its driver technology, as a strategic high-tech technology, have a strong driving force and technical radiation for future emerging industries. It is of far-reaching significance to improve emergency response capabilities and improve people's livelihood. At present, robots have been widely used in the field of human-computer interaction. For example, in the industrial field, robots have begun to participate in human labor and cooperate with people to complete tasks; in the service industry, catering service robots and humanoid robots have also been launched. This shows that the relationship between robots and humans is getting closer and closer, and the reliability and safety of human-computer interaction a...

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