Rigidity-adjustable actuator based on reconfigurable length-adjustable guide rod mechanism

Abstract

The invention discloses a rigidity-adjustable actuator based on a reconfigurable length-adjustable guide rod mechanism. The rigidity-adjustable actuator comprises a reed deformation amplification output mechanism, a rigidity adjusting mechanism, a differential driving mechanism and an adjusting motor set, wherein the adjusting motor set comprises a position adjusting motor and a rigidity adjustingmotor; and the position adjusting motor and the rigidity adjusting motor have two motion states, namely, a differential motion state and a constant-speed motion state. According to the actuator, continuous adjustment of two rigidity interval sections is achieved through the reconfigurable length-adjustable guide rod mechanism, and the performance requirements of instantaneous high power, high torque and rapid rigidity adjustment of a high-dynamic task are met in the first interval section; the requirements of low rigidity, low power consumption and high rigidity adjustment precision of a normal gait walking task are met in the second interval section, the contradiction between large-range rapid rigidity adjustment and small-range high-precision rigidity adjustment is well solved, and theuniversality and the energy-saving performance of the actuator are improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an actuator with adjustable stiffness based on a reconfigurable length-adjustable guide rod mechanism. Background technique [0002] The human-computer interaction working environment faced by the new generation of robots and dynamic tasks such as normal walking, running, and jumping require the force control accuracy, peak output force, limit speed, energy efficiency, joint landing energy loss, and stiffness adjustment time of the drive module. and other performance put forward new requirements. Generally speaking, in the normal walking gait of adults, the requirements for joint output torque, output power, and stiffness adjustment speed are low, and the requirements for force control accuracy and energy efficiency of driving joints are high; while in high dynamic tasks such as running or even jumping, the requirements are relatively low. In terms of demand, it is require...

AI Technical Summary

Problems solved by technology

When the adjustable stiffness actuator blindly pursues the high dynamic motion demand of instantaneous high power and high torque demand, it is a waste for normal walking tasks that require low power and low torque, and cannot meet the high precision stiffness of normal walking tasks , torque control requirements

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