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A Series Elastic Actuator with Given Moment Deformation Law and Its Design Method

A series of elastic and drive technology, applied in the field of robotics, can solve the problems of lack of compact structure and large stiffness adjustment range, and achieve the effects of enhancing human-computer interaction capabilities, reducing volume, and saving energy

Active Publication Date: 2022-03-11
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For variable stiffness actuators, a larger stiffness adjustment range and a compact structure are of great significance, while the existing nonlinear stiffness actuators lack a compact structure, a larger stiffness adjustment range, and a design for a given torque deformation law method

Method used

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  • A Series Elastic Actuator with Given Moment Deformation Law and Its Design Method
  • A Series Elastic Actuator with Given Moment Deformation Law and Its Design Method
  • A Series Elastic Actuator with Given Moment Deformation Law and Its Design Method

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Embodiment Construction

[0082] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0083] as attached Figure 1 to Figure 4 As shown, a serial elastic driver with a given torque deformation law, the driver includes a drive shaft 1, an end cover 2, a reed seat 3, a bearing seat 4, an output rod 8, a reed 9, an angle sensor, and the like.

[0084] The drive shaft 1 is radially provided with at least one cam portion 1-1, at least one of the two opposite sides of the cam portion 1-1 is a cam surface 1-11, and the cam surface 1-11 It is a convex curved surface, wherein, viewed from the axial direction of the drive shaft 1, the cam surface 1-11 is a curve, which matches the stiffness of the reed 9, that is, the curve matches the stiffness of the reed 9 according to the The law of stiffness variation is calculated, see the design...

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Abstract

The invention discloses a serial elastic driver with a given torque deformation law, which includes a drive shaft including a cam portion, an elastic reed, a reed seat and an output rod. When the driver is working, the rotation of the drive shaft is transmitted to the spring through the cam surface. On the sheet, the reed drives the reed seat to rotate while flexing, so that the reed seat drives the output rod to rotate. The invention also discloses a design method of the cam surface curve of the driver. The present invention uses cams and reeds to achieve a compact structure, obtains a larger stiffness adjustment range, and provides a design method for a series elastic driver with a given stiffness, which can effectively solve the problems of lack of a general design method and low energy density of the driver. with broadly application foreground.

Description

technical field [0001] The invention relates to robot technology, in particular to a serial elastic driver with a given torque deformation rule and a design method for a cam surface curve thereof. Background technique [0002] Traditional rigid actuators can achieve precise position control, but they are less resistant to shocks. In contrast, the series elastic actuator can realize safe and efficient human-machine interaction, and the elastic element can also store energy. [0003] In unstructured environments and occasions where human-computer interaction is required, series elastic actuators with constant stiffness cannot well meet the needs of use, while biological joints are characterized by the stiffness characteristics of "small load, low stiffness; large load, high stiffness". Therefore, the variable stiffness drive with the stiffness characteristics of "small load, low stiffness; large load, high stiffness" is of great significance in occasions where human-computer ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J13/08
CPCB25J9/10B25J13/087
Inventor 宋智斌鞠文杰
Owner TIANJIN UNIV