摘要
基于永磁弹簧、滑轮组和类行星轮系结构提出了一种新型的绳索驱动变刚度机器人肘关节。阐述了关节中应用的原理和样机整体结构设计。利用模型间静力学关系和雅可比矩阵推导得到关节的刚度模型,并给出了关节刚度随磁弹簧刚度和关节位置变化规律。以变刚度关节的动力学模型为基础,设计了变刚度肘关节的刚度与位置解耦控制器。通过变刚度关节的刚度和位置解耦验证实验,验证了解耦控制器的准确性。通过轨迹跟踪实验,给出了关节刚度变化对关节位置控制的影响规律。本文提出的绳驱变刚度肘关节具有更轻的质量与结构,较好的刚度变化性能与运动精度。
Variable stiffness joint driven by wires has good nonlinear stiffness variation performance to improve the safety of interaction between human and robot. To further improve the ranges of motion and stiffness performance of robots, based on permanent magnet spring, pulley block and planetary-like gear train structure, a new type of wire-driven variable stiffness robot elbow joint(VSJPPP) was proposed. The principles applied in the joint and the structure design of the prototype were expounded in detail. The stiffness model of the joint was derived by using the static relationship between the models and the Jacobian matrix, and the stiffness relationship between model and joint was simulated by Matlab under a given condition, the variation law of joint stiffness with magnetic spring stiffness and joint position is also given. Based on the dynamic model of the variable stiffness joint, the stiffness and position decoupling controller of the variable stiffness elbow joint was designed. The prototyoe was built and the Matlab/Simulink module was used to build the block diagram of the decoupling controller to test the joint motion in different conditions. Through the trajectory tracking experiments of joint, the accuracy of the decoupled controller is verified by the stiffness and position decoupling verification experiments and the influence rule of joint stiffness change on joint position control is given. In addition, the proposed wire-driving variable stiffness elbow joint has better stiffness variation performance and motion accuracy with lighter weight and structure. While the overall joint mass is 1.51 kg(excluding the driving motor), the elbow joint can rotate from-80° to 80°, and the theoretical stiffness can realize 0 to infinite variation.
作者
张明
马鹏菲
孙凤
孙兴伟
徐方超
房立金
ZHANG Ming;MA Pengfei;SUN Feng;SUN Xingwei;XU Fangchao;FANG Lijin(School of Mechanical Engineering,Shenyang University of Technology,Shengyang 110870,China;Faculty of Robot Science and Engineering,Northeastern University,Shenyang 110169,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2023年第1期432-439,共8页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(52005344、52005345)
辽宁省教育厅青年项目(LJKQZ2021044)
辽宁省科技厅面上项目(2022-MS-271)
国家重点研发计划项目(2020YFC2006701)
中央引导地方科技发展专项(2020JH610500048)。
关键词
肘关节
变刚度
永磁弹簧
滑轮组
线绳驱动
elbow joint
variable stiffness
permanent magnet spring
pulley block
wire-driving
