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Flexible actuator, working method and robot

An actuator and flexible technology, applied in the field of robotics, can solve the problems of complex control algorithm, large mechanical disturbance, complex mechanism, etc., to achieve the effect of solving mechanical disturbance, avoiding mechanical vibration, and simple mechanical structure

Active Publication Date: 2022-01-21
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Although the above variable stiffness method and the corresponding driving actuators have many advantages, the inventors found that there are some problems in the existing variable stiffness actuators, such as the limited range of variable stiffness, complex control algorithms, complex mechanisms that lead to coupling interference, The stiffness adjustment mechanism has problems such as large friction, small joint rotation angle, slow response speed of variable stiffness, and large mechanical disturbance during stiffness adjustment, which hinder its further promotion and application.

Method used

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  • Flexible actuator, working method and robot
  • Flexible actuator, working method and robot
  • Flexible actuator, working method and robot

Examples

Experimental program
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Effect test

Embodiment 1

[0063] In a typical embodiment of the present invention, refer to figure 1 , figure 2 and Figure 4 , Figure 5 As shown, a flexible actuator includes a power input shaft 1, and a plurality of electromagnetic clutches 2 are coaxially installed on the power input shaft in series, and a bending elasticity is provided between the thrust plate 20 of each electromagnetic clutch and the transmission frame 6 of the electromagnetic clutch. Part 8, the curved elastic part 8 is installed on the sleeve 9 of the transmission frame and contacts with the baffle plate 7 of the transmission frame, the curved elastic part 8 is connected with the clutch output gear 4 of the electromagnetic clutch 2 through the transmission frame, and the electromagnetic clutch transmission frame 6 and The clutch output gear 4 is fixedly connected and rotates coaxially, forming a power transmission chain from the clutch output gear 4 to the curved elastic member 8 .

[0064] refer to Figure 4 and Figure ...

Embodiment 2

[0077] This embodiment analyzes the theoretical model of the flexible actuator in the first embodiment, and then analyzes the theoretical model of the bending elastic member;

[0078] Dynamic modeling of flexible actuators:

[0079]

[0080]

[0081] θ 2 = θ 1 -q

[0082] where q, θ 1 , θ 2 They are the rotation angle of the power output shaft 18, the rotation angle of the power input shaft 17, and the compression deflection angle 19, M, J are the reflection inertia of the power output shaft and the power input shaft respectively, C, D are the power output shaft and the power output shaft respectively The equivalent damping coefficient of , G(q) is used to compensate the gravitational torque of the PTO shaft, τ d (t) is used to compensate the load torque when the flexible actuator is running, the additional torque generated by friction, internal damping and the uncertain disturbance torque due to the manufacturing precision of the flexible actuator. μ represents th...

Embodiment 3

[0119] The invention also discloses a working method of a flexible actuator, including the following content:

[0120] When the electromagnetic coil 10 is energized, a certain magnetic force is generated to attract the passive friction disc 12 to the active friction disc 11, and the torque of the power input shaft is transmitted to the passive friction disc 12 through the two friction discs, and finally the torque is transmitted from the clutch output gear 4 to the transmission frame 6, and then passed to the outer casing 5 through the thrust plate in contact with the curved elastic member 8;

[0121] When the electromagnetic coil 10 is powered off, the coil of the electromagnetic clutch 2 loses its magnetic force, and the passive friction disc 12 and the active friction disc 11 are separated at the same time. At this time, the power transmission is interrupted, and the electromagnetic coil 10 and the active friction disc 11 will rotate independently with the power input shaft ...

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Abstract

The invention discloses a flexible actuator, a working method and a robot, and solves the problems of complex control algorithm, limited rigidity adjustment and working angle range, large mechanism friction, slow rigidity adjustment response, large mechanical disturbance and the like in the prior art. The flexible actuator has the advantages that bending elastic pieces are controlled to enter a power transmission chain or not, the output rigidity of the flexible actuator is adjusted through the rigidity of the bending elastic pieces, the number of the bending elastic pieces added into the flexible actuator is controlled, and the beneficial effect of adjusting different rigidities of the flexible actuator is achieved; according to the specific scheme, the flexible actuator comprises a power input shaft, wherein and a plurality of electromagnetic clutches are coaxially mounted on the power input shaft in series; a bending elastic piece is arranged between a thrust plate of each electromagnetic clutch and an electromagnetic clutch transmission frame, the bending elastic pieces are mounted on a sleeve of the transmission frame and make contact with a baffle of the transmission frame, the bending elastic pieces are connected with clutch output gears of the electromagnetic clutches through the transmission frame, and the transmission frame and the clutch output gears are fixedly connected and coaxially rotate.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a flexible actuator, a working method and a robot. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] With the continuous development of robot technology, robots are not only used in traditional industrial manufacturing, production assembly and other fields, but also expanded to human-computer interaction fields such as education services, medical rehabilitation, and powered exoskeletons. Due to the high precision requirements of traditional robots, With high rigidity, faster system response and high bandwidth, this characteristic determines that it cannot effectively buffer shock and shock absorption, which will cause serious injuries in human-computer interaction, and needs to be improved in the process of human-computer interaction The safety a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/10B25J9/102B25J19/068F16D27/12F16D27/14F16D2027/005F16D3/52B25J9/126Y10S901/19
Inventor 国凯卢远孙杰
Owner SHANDONG UNIV
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