Series reconfigurable variable-stiffness robot joint structure based on permanent magnet spring

Abstract

A series reconfigurable variable-stiffness robot joint structure based on a permanent magnet spring comprises a base, a rope and a variable-stiffness motor. A kidney-shaped blind hole is machined in one end of a vertical base body of the base, an upper through hole and a lower through hole which are communicated with the kidney-shaped blind hole are machined in the other end of the vertical base body, a rotating shaft I is installed in the lower through hole through a bearing, one end of the rotating shaft I is sequentially connected with a speed reducer and a position servo motor, and a small belt wheel is installed on the portion, located in the kidney-shaped blind hole, of the other end of the rotating shaft I. A shaft body of an output disc is rotationally installed in the upper through hole through a crossed roller bearing I, the end face of the crossed roller bearing I is fixedly connected with one end of a disc of the output disc, a large belt wheel is installed on the portion, located in the kidney-shaped blind hole, of the shaft body of the output disc, a synchronous belt is installed between the large belt wheel and the small belt wheel, and the disc of the output disc is sequentially connected with a connecting rod disc and a variable-stiffness device through a crossed roller bearing II. The variable-stiffness device changes the stiffness adjusting range by rapidly adjusting the arrangement mode of the permanent magnet spring and the rope, and the application range is wider.

Description

technical field [0001] The invention belongs to the technical field of a series reconfigurable variable stiffness joint structure of a flexible robot system, and in particular relates to a series reconfigurable variable stiffness robot joint structure based on a permanent magnet spring. Background technique [0002] At present, robots have penetrated into all aspects of people's daily production and life and are showing explosive growth. The demand for the integration of robots and humans in the fields of smart factories, elderly and disabled services, medical care, education and entertainment is gradually increasing. The security issue of human-computer interaction has been paid more and more attention. The use of flexible variable stiffness joint actuators to achieve robot compliance and active adaptability has attracted more and more attention from researchers. [0003] At present, the variable stiffness joint driver mainly adopts the following schemes: ① Impedance contr...

AI Technical Summary

Problems solved by technology

1) There is a contradiction between the stiffness adjustment range and the stiffness adjustment accuracy of variable stiffness joints. For example, the spring pre-stretching length, the position of the lever loading point, and the effective length of the reed are all limited to a limited range by the joint size constraints. Therefore, the stiffness adjustment The larger the range, the lower the adjustment resolution

2) The bearing capacity of large variable stiffness joints is insufficient in the low stiffness state

3) The range of stiffness adjustment cannot be changed as the internal structure of the variable stiffness device is determined, and the scope of application is small

4) The variable stiffness devices of most joints have complex structures, which increase the mass and inertia of the joints

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