Rotation joint variable rigidity actuator

Abstract

The invention discloses a rotation joint variable rigidity actuator. The rotation joint variable rigidity actuator comprises a supporting machine base. The supporting machine base comprises a base, ashell and two base connecting screws. The base is located at the lower end of the shell. The lower end of the shell abuts against the upper end of the base. One ends of the two base connecting screwsboth penetrate through the base and extend into the shell. A torque output mechanism is arranged on the shell and provided with two parallel output disc connecting pins located in the shell. The two output disc connecting pins are provided with a rigidity adjusting mechanism. A main transmission mechanism is arranged on one side of the lower end of the base. According to the rotation joint variable rigidity actuator, the effective acting length of a leaf spring can be changed, output rigidity changes are achieved, fixed-rigidity output is achieved through synchronous rotation of the main transmission mechanism and a rigidity adjusting disc, variable rigidity output is achieved through asynchronous rotation, and output rigidity decoupling is facilitated; and accordingly, the algorithm is convenient to control, friction is reduced, energy consumption can be better reduced, an output disc can continuously rotate, the structure is compact, and the size is small.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a rotary joint variable stiffness actuator. Background technique [0002] With the development of robotics technology, the scope of application of robots is becoming wider and wider. Most of the new generation of collaborative industrial robots, service robots, assistance and medical rehabilitation robots share the working space with humans and have frequent physical contact and force exchange. . In 2015, the incident of a robot attacking a human in Volkswagen Germany showed that the robot could not yet work side by side with people safely and online. Therefore, the security of human-computer interaction has become particularly important. Traditional robots are rigid. Although a large number of sensors and complex control algorithms can be used to achieve a certain degree of flexibility, the resolution of the sensors and the response speed of the control system make the compliant...

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Problems solved by technology

[0003] At present, the existing variable stiffness actuators, according to the different principles of variable stiffness, have defects of varying degrees, such as small output force, large volume and weight, small range of motion, small stiffness, high energy consumption for stiffness adjustment, and control problems. Algorithms are complex, etc.

Specifically, the spring preload adjustment method is not energy-saving enough; it is difficult to guarantee the performance of variable stiffness by using special materials, and the control is complicated; the friction energy consumption is large by the lever principle adjustment method, and the structure is complicated and heavy. Therefore, we propose a A rotary joint variable stiffness actuator to solve the above problems

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