A robotic variable stiffness mechanism and a flexible interactive variable stiffness grabbing device

A technology of variable stiffness and robot, applied in the direction of manipulators, manufacturing tools, claw arms, etc., can solve the problems of invariable robot stiffness, etc., and achieve the effect of actively changing the stiffness of the device and solving the problem of invariable stiffness

Active Publication Date: 2022-03-18
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to provide a robot variable stiffness mechanism, which aims to solve the problem that the robot has invariable stiffness in the prior art

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  • A robotic variable stiffness mechanism and a flexible interactive variable stiffness grabbing device
  • A robotic variable stiffness mechanism and a flexible interactive variable stiffness grabbing device
  • A robotic variable stiffness mechanism and a flexible interactive variable stiffness grabbing device

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Embodiment Construction

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0031] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

[0032] In addition, in t...

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Abstract

The invention provides a robot variable stiffness mechanism and a flexible interactive variable stiffness grabbing device. The robot variable stiffness mechanism includes a driving component, a fixed component, a guiding component, a sliding component, a memory alloy rod and an output end. The guiding component is along the The length direction is arranged between the fixed part and the output end; the sliding part is movably passed through the guide part and the memory alloy rod and connected with the driving part, and the driving part is used to drive the The sliding part moves on the guide part; the memory alloy rod is connected to the fixed part, and the sliding part is used to adjust the length of the memory alloy rod protruding from the sliding part toward the output end, and at the same time The distance between the sliding part and the output end is adjusted, thereby adjusting the stiffness of the robot variable stiffness mechanism. The technical solution of the invention is beneficial to achieve the purpose of adjusting the stiffness.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a robot variable stiffness mechanism and a flexible interactive variable stiffness grabbing device. Background technique [0002] With the development of robot technology, robots are widely used in industry and service fields. The operation process is often complicated, and it is necessary to control the flexible interaction between the end of the robot and the object of action. In this case, the robot must not only ensure its own safety and the object of action Controllable, but also to avoid the phenomenon of force overshoot, which will cause damage to the acting object. [0003] The role between the robot end and the environment is mainly to avoid obstacles or control the end force. It is usually a rigid contact, and the control is often imprecise. Once the control accuracy is inaccurate, the rigid effect between the robot and the environment will be Destruction will occur a...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): B25J18/00
CPCB25J18/00
Inventor陆新江许都
OwnerCENT SOUTH UNIV