Active variable-stiffness actuator based on length-adjustable reed and adjusting method

Abstract

The invention discloses an active variable-stiffness actuator based on a length-adjustable reed, and is suitable for the technical field of robot control. The active variable-stiffness actuator comprises an L-shaped base, a vertical adjusting module, a double-L-shaped connecting plate, a roller rack, a horizontal adjusting module, a horizontal clamping module and four groups of reeds, wherein oneend of the double-L-shaped connecting plate is connected to the vertical adjusting module through a screw, and the other end is connected to the roller rack through a screw; the vertical adjusting module adjusts the roller rack to move in the vertical direction through the double-L-shaped connecting plate, so that effective deformation length of the reeds is changed, and active variable stiffnessis achieved; the horizontal adjusting module is combined with a linear module on the roller rack to drive the reeds to have two degrees of freedom of movement in the horizontal direction. The reeds are in contact with a clamped object to realize position control, and rollers drive the reeds to generate deformation for providing clamping force; the double-L-shaped connecting plate penetrates through the L-shaped base to drive the roller rack to achieve change of the positions of supporting points of the reeds, so that the size of the structure is greatly reduced, the requirements for clamping force and rigidity of different clamped objects can be met, and adaptability is high.

Description

technical field [0001] The invention relates to the technical field of robot control, and is especially designed and suitable for an active variable stiffness actuator based on an adjustable-length reed and an adjustment method. Background technique [0002] As the scope of application of industrial robots becomes wider and wider, the performance requirements for them are also increasing. Especially in the occasions where there is frequent physical contact and force exchange in the new generation of collaborative industrial robots, rehabilitation robots, precision equipment handling robots, etc., it is necessary to introduce flexibility into the robot motion system to improve the safety of the interaction between the robot, humans and precision equipment. On this basis, adjustable stiffness actuators have gained more and more attention. [0003] Adjustable stiffness actuator (VSA) can be divided into five types according to its stiffness adjustment principle: ① variable imp...

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Problems solved by technology

[0004] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide an active variable stiffness actuator and adjustment method based on the adjustable length reed, which overcomes the problem of low stiffness adjustment efficiency in the prior art. During the design process, Given the stiffness adjustment unit - two degrees of freedom of movement adjustment of the reed, in order to achieve the purpose of efficient stiffness adjustment

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