Lever type rigidity-variable flexible joint based on cam

Abstract

The lever type variable-rigidity flexible joint based on the cam comprises an integrated driving mechanism and a variable-rigidity mechanism, the variable-rigidity mechanism comprises a driving disc, a cam disc, a sliding block, a reed and an output disc, and the output end of the integrated driving mechanism is fixed to the driving disc; the cam disc and the driving disc are rotationally connected and coaxially arranged, and the cam disc is provided with a plurality of working curved surfaces arranged around the circumference; one end of the reed is rotationally connected with the driving disc, the other end of the reed is fixed to the output disc, the output disc and the driving disc are rotationally connected and coaxially arranged, one end of the sliding block is inserted into a sliding groove of the driving disc, the other end of the sliding block is inserted into the two sides of the reed and can slide along the reed, and meanwhile a cylindrical roller of the sliding block is matched with a working curved surface of the cam. When the cam disc rotates, the sliding block is pushed to slide along the reed, and the rigidity is adjusted by changing the effective working length of the reed. The flexible joint disclosed by the invention has the characteristics of compact structure and fast response.

Description

technical field [0001] The invention relates to the field of robots, in particular to a cam-based lever type flexible joint with variable stiffness. Background technique [0002] Variable stiffness flexible joints can be divided into five categories according to different stiffness adjustment principles: equivalent control to achieve stiffness control, antagonistic control to achieve stiffness control, changing the elastic body structure to control joint stiffness, using spring preload to achieve stiffness control and changing the output transmission ratio achieve stiffness control. Equivalent control realizes stiffness control on ordinary SEA joints, taking advantage of the advantages of flexible joints in realizing accurate force control, and realizing joint stiffness control by controlling the actual force and position output simulation under the required joint stiffness. Hollander used this principle to design a joint driver and applied it to the ankle orthosis, which g...

AI Technical Summary

Problems solved by technology

Although there are many studies on variable stiffness flexible joints, there are still many problems, such as narrow stiffness adjustment range, complex structure of variable stiffness, large joint size, etc.

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