Elastic torque control device

Abstract

The invention discloses an elastic torque control device. The device comprises an angle sensor, a connecting plate, a shell and an input motor. A servo coder is arranged on the input motor, and the connecting plate is fixedly connected with the shell. The angle sensor is rotationally connected with the connecting plate; one end of a middle connecting piece is connected with the angle sensor, and the other end of the middle connecting piece is connected to a rotating shaft of the input motor. An inner ring of a bearing is coaxially and rotatably connected with the middle connecting piece, and an outer ring is connected with the shell. A plurality of extension springs are further arranged at the side, away from the angle sensor, of the shell. One end of each tension spring is fixedly connected with the shell, and the other end of each tension spring is fixedly connected with the middle connecting piece. The common extension springs are adopted as the elastomers, and the mathematical model derivation is simple. The permissible torque is controlled and output through the servo motor, and the servo motor control method is mature, and the control precision is high. The device is simple in structure and low in cost, and the extension springs can be replaced at any time to change the rigidity of the elastomers. The device is high in universality, and the output actual torque can be accurately controlled through simple calculation.

Description

technical field [0001] The invention relates to the technical field of force control devices, in particular to an elastic moment control device. Background technique [0002] Soft robots play an important and irreplaceable role in the fields of polishing, human-machine collaboration, exoskeleton rehabilitation, precision assembly, etc. The key technical difficulties of force feedback perception and control of soft robots. The basic elements of joint force control and terminal force control of flexible robots are torque control. In an uncertain contact environment, the force feedback measurement is sensitive to external disturbances, the structural design of the elastic body is difficult, and the force control is complicated. These reasons lead to the development and application of soft robots. [0003] Any force system in space can be composed of linear force and torque, and the rotational torque control device can control the contact torque during circular motion. In theor...

AI Technical Summary

Problems solved by technology

[0004] At present, there are few studies on torque control devices at home and abroad, and most of them use special elastic bodies as the torque deformation carrier. The design and processing of elastic bodies are complex, costly, and poor in versatility.

For example, torsion springs, special material elastic bodies, etc., are difficult to install, complex mathematical models, and high nonlinearity

Images