Two-in-parallel elastic driver

Abstract

The invention relates to a double-series connection elastic driver and comprises two guide bars, two ends of which are fixed on brackets; wherein, the bracket of one end is provided with two through holes, and two push rods go through the through holes; two spring baffles which are provided with holes are fixed on the push rods and go through the guide bars; a spring driving plate is arranged between the two spring baffles and is connected with a driver arranged on the bracket through a driving rod; springs are positioned between the spring driving plate and the spring baffles on two sides, and the springs comprise a soft spring and a hard spring which are distributed in a parallel way; the soft spring is sheathed on the push rod and the hard spring is sheathed on the guide bar and a passage of gap exists between the hard spring and the spring driving plate. The elastic driver has the advantages that when the driving load is smaller, the spring with smaller rigidity has the buffering effect to avoid the overlarge impact force; when the driving load is bigger, the spring with smaller rigidity is totally compressed and then the spring with larger rigidity plays the buffering role, thus preventing the driving belt width from being over influenced.

Description

(1) Technical field [0001] The invention relates to a mechanism driver, in particular to a force-based driver for robot joints. (2) Background technology [0002] For robots operating in unknown environments, it is desirable to have a force-controlled robot that can adapt to the external environment. At present, the force control methods of the robot include: 1. The active control method, which determines the torque of the robot joints through the control algorithm and the sensed external information, so that the robot can generate an appropriate force on the external environment. 2. Passive control method, through the elastic buffer device to avoid excessive impact force. The invention belongs to a passive control driving device, which is characterized in that it cannot precisely control the force, but it can adapt to a very large bandwidth of force change. At the same time, due to the two parallel stiffnesses, when the amplitude of the external impact force changes greatl...

AI Technical Summary

Problems solved by technology

However, due to the non-linear factors such as the friction of the gear mechanism itself, the gear clearance, and the increase of the moment of inertia of the load, the accuracy of the output force of the driver is reduced, and the ability to resist impact loads is reduced.

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