机器人Issue(3)：322-329,8.DOI:10.3724/SP.J.1218.2014.00322
面向足式机器人的新型可调刚度柔性关节的设计及性能测试
Design and Testing of a Novel Joint with Adjustable Stiffness for Legged Robot
摘要
Abstract
In order to enhance the locomotion adaptability of legged robots, a novel compliant rotational joint with contin-uously adjustable stiffness is designed. To achieve this, the relation between transmission ratio and output stiffness of lever mechanism is analyzed, and the lever mechanism with variable transmission ratio is utilized as a core functional module in the design of the compliant joint with adjustable stiffness. The joint is designed to be light weight and compact in size, and the joint’s mechanisms as well as driving module are specified for practical applications to legged robots. The relationship between joint structure parameters and output stiffness is analyzed, and the range of the relevant parameter is selected so that the output stiffness can be sensitive to the parameter change. The natural stiffness characteristics of the joint are further de-termined based on kinematic study. Tests on the prototype joint show that the output stiffness can be adjusted and controlled effectively by the adjusting-mechanism, and the joint can be applied to robotic legs with respect to its structure design and functions.关键词
足式机器人/柔性关节/刚度调整/杠杆机构Key words
legged robot/compliant joint/stiffness adjustment/lever mechanism分类
信息技术与安全科学引用本文复制引用
尹鹏,李满天,郭伟,王鹏飞,孙立宁..面向足式机器人的新型可调刚度柔性关节的设计及性能测试[J].机器人,2014,(3):322-329,8.基金项目
国家863计划资助项目（2011AA404701）；国家自然科学基金资助项目（61005076）；机器人技术与系统国家重点实验室自主课题（SKLRS201006B）． （）
