【摘要】 机器人关节驱动器是人机交互运动得以实现的关键。为使服务机器人更好地完成与人之间的交互,根据仿生拮抗驱动原理,设计了一种主动变刚度的柔顺关节驱动器。同时建立了变刚度驱动器的数学模型,借助MATLAB软件分析,得到了变刚度驱动器静载下的静态刚度曲线,结果表明该关节驱动器具有良好的变刚度特性和安全性。此外,结合ADAMS虚拟样机和实物样机实验平台,分析了转角差δ=0°和δ=15°时小球的平抛情况,实验结果表明驱动器具有良好的储能特性和安全性。更多还原

【Abstract】 Joint actuator of robot is the key to achieve human-robot interaction movement. In order to accomplish the interaction between human and service robot better,a kind of joint actuator with active variable stiffness was designed according to the principle of bionic antagonistic drive. The mathematical model of the variable stiffness actuator was established at the same time,and the static stiffness curves of the variable stiffness actuator was acquired by using MATLAB software under the state of static load,the results show that the joint actuator has good variable stiffness characteristics and security. Finally,combining ADAMS software and physical prototype experiment platform,the ball’s horizontal cast was analyzed when the angle difference is 0 degree and 15 degree,the experimental results show that the actuator has good energy storage properties and security.更多还原