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A New General Variable Stiffness Manipulator Joint

A variable stiffness, robotic arm technology, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of robot structural damage, inability to respond quickly, endangering operators, etc., achieving huge application potential, wide range of stiffness changes, and increased reliability. Effect

Active Publication Date: 2021-10-01
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] For a multi-joint robot for operation, if it is facing an unstructured environment, collision or contact between the operating end and the environment is inevitable. Rigid collisions may cause permanent damage to the robot structure, and can destroy the operating object or endanger the operator
There are mainly two solutions to this destructive collision. One is to adjust the contact force and moment between the contact object and the contact object through the software design of the compliant control algorithm to ensure the safety of the contact. However, this method is subject to the entire control system. Bandwidth constraints, unable to respond quickly

Method used

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  • A New General Variable Stiffness Manipulator Joint
  • A New General Variable Stiffness Manipulator Joint
  • A New General Variable Stiffness Manipulator Joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0044] Figure 6 The arc-shaped wheel disc provides a preferred structural form capable of realizing the above-mentioned functions.

[0045] Such as Figure 6 As shown, one side of the arc-shaped wheel is the hollow shaft shown in the figure, and the inner side of the shaft is an internal spline. The arc-shaped wheel is connected to the output flange through the spline and the end locking screw. hole through. The other side of the arc-shaped wheel has a three-part concave arc surface symmetrically distributed on the circumference. The arc surface adopts a Bezier curve design to provide a rolling contact surface for the roller bearing. The highest points on both sides of the concave arc surface, the arc surface Perpendicular to the face of the roulette. On the same side, a concave-convex engaging surface is provided around the middle through hole, which can cooperate with the concave-convex engaging surface of the screw nut fixing plate to limit the rotation of the arc-shape...

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Abstract

A new type of universal variable stiffness manipulator joint, the output of the harmonic reducer is fixedly connected to the threaded end of the trapezoidal screw, when the trapezoidal screw rotates, the screw nut and the trapezoidal screw can produce relative axial movement; the screw nut and the screw The screw nut fixed plate is fixedly connected, the screw nut fixed plate and the roller bearing plate can move axially relative to the joint shell along the guide rail fixed on the inner side of the joint shell; the mold spring is set on the lead screw nut fixed plate and the roller bearing plate between the roller bearing plate and the horizontal end of the trapezoidal screw, the arc-shaped wheel is set on the trapezoidal screw, and the horizontal end of the trapezoidal screw radially positions the trapezoidal screw and the bearing mold through the bearing The spring acts on the force and transmits it to the arc-shaped wheel; the arc-shaped wheel is fixedly connected with the output flange and rotates relative to the joint shell through the bearing support; the arc-shaped wheel and the rollers installed on the roller bearing plate The bearing fits to convert the external acting torque acting on the output flange into the compressive force acting on the spring.

Description

technical field [0001] The invention belongs to the field of mechanical arm joint design and relates to a novel universal variable stiffness mechanical arm joint. Background technique [0002] For a multi-joint robot for operation, if it is facing an unstructured environment, collision or contact between the operating end and the environment is inevitable. Rigid collisions may cause permanent damage to the robot structure, and can destroy the operating object or endanger the operator. There are mainly two solutions to this destructive collision. One is to adjust the contact force and moment between the contact object and the contact object through the software design of the compliant control algorithm to ensure the safety of the contact. However, this method is subject to the entire control system. Bandwidth constraints make it impossible to respond quickly. Another method is to improve the hardware design, using joints with active stiffness adjustment, and adding a flexib...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/02
Inventor 胡勇魏春岭刘磊王勇徐拴锋
Owner BEIJING INST OF CONTROL ENG
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