变刚度关节驱动器动力学特性的分析与研究

doi:10.13973/j.cnki.robot.2017.0466

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付小月, 王伟, 王雷, 魏洪兴, 贠超. 变刚度关节驱动器动力学特性的分析与研究[J]. 机器人, 2017, 39(4): 466-473.DOI: 10.13973/j.cnki.robot.2017.0466. FU Xiaoyue, WANG Wei, WANG Lei, WEI Hongxing, YUN Chao. Analysis and Study on Dynamical Characteristics of Variable Stiffness Joint Actuator. ROBOT, 2017, 39(4): 466-473. DOI: 10.13973/j.cnki.robot.2017.0466.

摘要提出了一种以板簧为弹性元件、以螺旋盘为刚度调节机构的变刚度关节驱动器，研究了该关节驱动器的刚度调节特性．建立了包括电机、同步带及谐波减速器的柔顺性和摩擦特性的动力学模型．通过位置阶跃和击球实验验证了动力学模型的正确性．研究表明变刚度关节驱动器的爆发性不仅与关节刚度有关，还与能量释放的时机有关，为提升机器人与人的交互作业的动态特性提供了理论依据．

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关键词 ：变刚度, 关节驱动器, 动力学, 爆发性

Abstract：A new variable stiffness joint actuator is proposed by using a plate spring as elastic element and spiral discs as stiffness adjusting mechanism, and the stiffness regulation characteristics of the joint actuator are also discussed. A dynamic model considering the compliance and friction characteristics of the motor, synchronous belt and harmonic reducer is established. The correctness of the dynamic model is verified by position step and ball-hitting experiments. The research shows that the explosion of variable stiffness joint actuator is related to not only the stiffness but also the release time of stored energy, which provides a theoretical basis for improving the robot's dynamic characteristics when interacting with human.

Key words： variable stiffness joint actuator dynamics explosion

收稿日期: 2016-12-27 录用日期: 2017-02-23

242.6

基金资助:国家自然科学基金（51305008）

通讯作者: 王伟,E-mail:jwwx@163.com E-mail: jwwx@163.com

作者简介: 付小月(1993-),女,硕士生.研究领域:先进机器人技术.
王伟(1982-),男,博士,讲师.研究领域:机器人学.
王雷(1983-),男,硕士生.研究领域:先进机器人技术.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0466 或 https://robot.sia.cn/CN/Y2017/V39/I4/466

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