Two-degree-of-freedom elastic module, and measurement method and control method thereof

Abstract

The invention discloses a two-degree-of-freedom elastic module, and a measurement method and a control method thereof. The two-degree-of-freedom elastic module comprises an elastic module connecting device and an elastic module body, wherein the elastic module connecting device is used for independently connecting the elastic module with an input shaft and an output shaft; the input shaft is connected with a motor; the output shaft is connected with a load; the elastic module body comprises an elastic body, an input shaft angle measurement device, an output shaft angle measurement device and an output shaft axial displacement measurement device; the elastic body generates elastic deformation in a rotation direction and an axial direction; and the motor, the input shaft, the elastic body, the output shaft and the load are positioned on the same axial line. The two-degree-of-freedom elastic module has the beneficial effects that: (1) the elastic control of two dimensions, including rotation and translation, can be simultaneously realized, and an elastomer material is convenient in replacement so as to be suitable for different application requirements; (2) the rotation direction deformation and the axial displacement of the elastomer can be detected in real time; and (3) practical force and a practical moment are calculated in real time, and the accurate control of the speed, themoment and the axial force of the elastic module can be realized.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a two-degree-of-freedom elastic module and a measurement and control method thereof. Background technique [0002] With the development of robot technology, the operation mode of robot and human cooperation and the application environment of human-machine coexistence are emerging. The biggest difference between the human-machine coexistence environment and the traditional industrial robot operation environment is the dynamic change of the environment and the uncertainty of human-computer interaction. . In order to ensure high-speed and high-precision performance of traditional industrial robots, the mechanical body is generally rigid in structure, resulting in high stiffness at the end, which cannot cope with the uncertainty of the human-machine coexistence environment. Once an operation error occurs, it will pose a threat to the safety of other objects in the environment and the r...

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Problems solved by technology

The use of wire springs can indeed change the stiffness of the transmission structure and realize the function of elastic drive in series. However, since the commonly used springs include extension springs, compression springs and torsion springs, when designing the structure, using a single spring can only achieve translational or rotational control. one of

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