A Compliant Jointed Manipulator Based on Serial Elastic Actuators
A series of elastic and driver technology, applied in the field of robotics, can solve the problems of limited expansion and contraction distance of springs and small change range of stiffness, and achieve the effect of improving the rate of change of stiffness, simple and compact structure, and large output torque
Active Publication Date: 2021-07-27
SHANDONG UNIV
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Problems solved by technology
However, the stretching distance of the spring of this device is limited, and the range of stiffness variation is small
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[0024] Such as figure 1 As shown, the compliant articulated robotic arm based on serial elastic actuators of the present invention includes a base 1 , two serial elastic actuators and an articulated arm. The articulated arm is connected on the base 1, and the articulated arm includes a shoulder arm, an upper arm and a lower arm which are articulated together in turn, a first serial elastic driver is installed in the shoulder arm, a second serial elastic driver is installed in the upper arm, and the first serial elastic driver is installed in the upper arm. The output end of the elastic driver is hinged to the upper arm, and the output end of the second series elastic driver is hinged to the lower arm.
[0025] The shoulder arm includes a left shoulder link 2 and a right shoulder link 3, one end of the left shoulder link 2 and the right shoulder link 3 are connected together and fixed on the base 1 by bolts, between the left shoulder link 2 and the right shoulder link 3 Instal...
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A pliable joint mechanical arm based on a series elastic driver, comprising a base, a series elastic driver and an articulating arm; the articulating arm includes a shoulder arm, an upper arm and a lower arm hinged together in turn, and a first series elastic driver is installed in the shoulder arm , a second series elastic driver is installed in the upper arm, the output end of the first series elastic driver is hinged with the upper arm, and the output end of the second series elastic driver is hinged with the lower arm. The motor in the series elastic driver drives the upper arm or the lower arm to rotate according to the control signal. When the upper arm and the lower arm are impacted by the outside, the mold spring in the series elastic driver is compressed, and the mold spring absorbs the impact of the external load fluctuation, realizing the mechanical flexibility of the joint. The invention makes the dynamic characteristics of the manipulator more flexible, improves the safety, and can make the driving parts of the robot miniaturized and lightweight. The double spring design improves the stiffness change rate of the driver, and enables the robot joints to bear bidirectional high loads shock.
Description
technical field [0001] The invention relates to a flexible joint mechanical arm based on a serial elastic driver, which belongs to the technical field of robots. Background technique [0002] With the rise of the next-generation industrial revolution and the transformation of my country's manufacturing industry, the technical requirements for robots are no longer limited to traditional elements such as high speed and high precision. In the future social life, the relationship between humans and robots will become closer, especially in the fields of service robots and medical robots that require human-computer cooperation, so good human-computer interaction performance will become a key research in the field of robotics one of the directions. However, traditional robots are mostly rigid structures, and the control mode is mainly based on position control, which leads to a large end stiffness of the robot. Not only is the human-computer interaction experience poor, but once a...
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IPC IPC(8): B25J18/00B25J9/12
CPCB25J9/12B25J18/00
Inventor 周乐来宋召鹏李贻斌荣学文杨琨刘大宇李健华
Owner SHANDONG UNIV