Active variable stiffness actuator and adjustment method based on adjustable length reed

Abstract

An active variable stiffness actuator based on an adjustable-length reed is suitable for the technical field of robot control. Including L-shaped base, vertical adjustment module, double L-shaped connection plate, roller frame, horizontal adjustment module, horizontal clamping module, 4 sets of reeds; one end of the double L-shaped connection plate is connected to the vertical adjustment module by screws, and the other end is The roller frame is connected by screws; the vertical adjustment module adjusts the roller frame to move in the vertical direction through the double L-shaped connecting plate, thereby changing the effective deformation length of the reed and realizing the active stiffness change; the horizontal adjustment module is combined with the roller frame The linear module drives the reed to have two degrees of freedom of movement in the horizontal direction. Make the reed contact with the clamped object to achieve position control, the roller drives the reed to deform to provide clamping force, the double L-shaped connecting plate passes through the L-shaped base to drive the roller frame to realize the change of the position of the reed support point, greatly reducing The size of the structure is reduced, and it can meet the requirements of clamping force and stiffness of different clamped objects, and has strong adaptability.

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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