中国机械工程2016，Vol.27Issue(18)：2494-2499,2500,7.DOI:10.3969/j.issn.1004-132X.2016.18.014
一种旋转型机器人柔性关节设计与分析
Design and Analysis of a Rotary-type Robot Flexible Joint
摘要
Abstract
According to the researches of the mechanism of flexibility of human knee j oint,the an-imal musculo-tendinous tissue was modeled to design a suitable motor-driven rotary-type robot flexi-ble j oint.Then,comparative mechanism characteristics of the rotary type and linear type SEA(series elastic actuator)were analyzed,a flexible output mechanism with eight interaction compression spring was proposed as the core of the compliant j oint,and based on this structure the relationship among j oint structure parameters and output stiffness was calculated.To achieve the j oint modularity,versa-tile,lighter and more compact,motor,reducer and flexible output mechanism centrally were installed in j oints.Software simulation and tests on a prototype j oint show that this j oint has impact property and flexible output capacity and may be applied to various robots with respect to its structure design and functions.关键词
机器人/柔性关节/紧凑设计/串联弹性驱动器Key words
robot/flexible j oint/compact design/series elastic actuator分类
信息技术与安全科学引用本文复制引用
史延雷,张明路,张小俊,白丰..一种旋转型机器人柔性关节设计与分析[J].中国机械工程,2016,27(18):2494-2499,2500,7.基金项目
国家自然科学基金资助项目(61503119) （61503119）
