A Flexible Manipulator Device with Active and Passive Stiffness Adjustment

Abstract

The invention discloses a flexible mechanical arm device capable of actively and passively adjusting rigidity. A first electromagnet fixed to one end of a first mechanical arm is included and arrangedin a cylinder cavity. A second electromagnet repelling to the first electromagnet is arranged in the cylinder cavity and arranged at one end of a second mechanical arm. A spline-shaped elastic element is arranged at the other end of the second mechanical arm and connected with a second bevel gear through a first bevel gear. The face, away from the second mechanical arm, of the second bevel gear is connected with one end of a spring. A center shaft is arranged on the axis of the spring, one end of the center shaft is connected with the second bevel gear, and the other end of the center shaft is connected with a harmonic reducer. The other end of the spring is arranged on the harmonic reducer. The harmonic reducer is arranged on a third mechanical arm through a brushless direct current motor. According to the flexible mechanical arm device, the mechanical arm structure is optimized, and changes of rigidity from zero to infinite can be achieved.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a flexible mechanical arm device capable of actively and passively adjusting stiffness. Background technique [0002] At present, the flexibility of most robots depends on the flexibility of the motor and reducer or the flexible adjustment device. The flexibility of the reducer is generally realized through the deformation of the flexible wheel of the harmonic reducer. Most flexible adjustment devices use elastic elements, including springs, torsion springs, elastic ropes, springs or elastic materials, and mechanisms with elastic members. Fields such as industrial and agricultural production and processing, rehabilitation medicine, family and social services require that the robotic arm is no longer closed in the processing space to realize human-computer interaction, has higher flexibility, and ensures the safety of the human-computer interaction process. However, the prior ar...

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Problems solved by technology

[0003] Aiming at the above-mentioned deficiencies in the prior art, the invention provides a flexible mechanical arm device that can actively and passively adjust the stiffness, which solves the problems of complex structure, large volume and poor structural flexibility in the prior art

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