【摘要】 针对机械臂工作环境的动态变化以及人机交互安全性问题,设计了基于被动柔顺结构和主动柔顺控制的抗冲击柔性关节。在关节电机和负载之间加入串联弹性驱动器,并且设计了一种新型扭转弹性体作为弹性元件来代替传统扭簧。建立了柔性关节动力学模型,基于关节的多传感器感知能力制定了阻抗控制策略,最后对关节虚拟样机进行ADAMS/Simulink联合仿真来验证控制策略的可行性,结果表明该柔性关节具有良好的力顺应性和抗冲击特性,可以实现与环境之间的安全交互。更多还原

【Abstract】 An impact-resistant flexible joint with passive compliant mechanical structure and active compliant control is designed to cope with the dynamically-changing work environments and human-robot interaction issues. A series elastic actuator which uses a novel torsional elasticity instead of traditional torsional spring as elastic element to make the joint more integrated is embedded between the joint motor and load. The dynamics model of the flexible joint is established. Then,the impedance control strategy for the joint are made based on the sensory ability of multiple sensors. At last,the effectiveness of the control strategy is verified by the combined simulations on the joint virtual prototype with ADAMS and Simulink,which shows that the flexible joint has good property of torque compliant and impact-resistant,making it possible to adapt to variable environments.更多还原