A Variable Stiffness Compliant Actuator

Abstract

The present invention provides a variable stiffness complier, which includes a frame, and a drive mechanism, a linear actuator, and a compliance mechanism arranged on the frame; wherein, the frame includes a support base, and the support base includes a The sleeve and the first baffle set at one end of the sleeve, and the second baffle set at the other end of the sleeve, the distance between the second baffle and the first baffle is adjustable; the linear actuator includes a ball wire A rod and a nut are used to convert the rotary motion of the driving mechanism into a linear motion and connect an external load, the nut is fixed on the frame, and the ball screw part is installed inside the sleeve; The compliance mechanism includes an interface plate sheathed on the outside of the sleeve, and a first spring set with both ends free and a second spring set with both ends free, which are sheathed on the outside of the sleeve and arranged on both sides of the interface plate. The proposal of the present application realizes multiple variable stiffnesses by changing the relationship between the spring preload and the spring gap, and is simple to operate and easy to implement.

Description

Technical field [0001] The present invention belongs to the field of mechanical transmissions, specifically relates to a flexible actuator with variable stiffness. Background [0002] The traditional drive device realizes the drive of the object through rigid design, that is, the transmission of motion and force through the way of "motor 401 + reducer + load", which is fast in response, simple and easy to implement, and is widely used in general engineering practice. However, in the face of an unknown environment, the form and size of the external load can not be determined, this rigid design method that relies on control to achieve protection has great limitations and cannot meet the requirements of the working conditions. [0003] On this basis, according to the biomimetic mechanism and the biological muscle model, foreign scholars have proposed the design concept of tandem elastic drive, that is, the connection mode of "motor 401 + reducer + spring + load" is used to achieve ...

AI Technical Summary

Problems solved by technology

[0004] (1) Many of the existing compliant actuators are designed in the form of pure spring or pure damping, and the only compliant actuators that combine springs and damping are also bulky, and it is difficult to arrange the spatial position in actual engineering, so they cannot be effectively implemented. promotion;

[0005] (2) Most of the existing compliant actuators are designed in the form of constant stiffness, and some variable stiffness forms have extremely high requirements for design and manufacturing due to the complex structure of elastic elements, and often the processed products cannot meet the demand;

[0006] (3) The existing compliance driver adopts an integrated design structure, and the compliance components are embedded in the whole driver, which cannot realize modular design and cannot meet the later interchangeability requirements

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