2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator

Abstract

The invention relates to a 2-DOF flexible mechanical arm based on an antagonism type variable stiffness actuator. The 2-DOF flexible mechanical arm comprises a mounting base board, elbow joint driving devices, shoulder joint driving devices and a bionic arm, and the elbow joint driving devices, the shoulder joint driving devices and the bionic arm are arranged on the rear portion of the mounting base board correspondingly. The elbow joint driving devices and the shoulder joint driving devices are based on the antagonism type variable stiffness actuator, so that stiffness is variable when two shafts of two flexible mechanical arms are driven. In application occasions relating to man-machine interaction, the stiffness can be changed with working scenes, the safety of operators is sufficiently improved, and the 2-DOF flexible mechanical arm is of profound significance in research and development of service-oriented robots.

Description

technical field [0001] The invention relates to a 2-DOF flexible mechanical arm based on an antagonistic variable stiffness driver, which belongs to the field of industrial robots. Background technique [0002] For traditional industrial robots, in order to achieve precise control, the entire system needs to have high stiffness, and the faster the response speed, the better. The driver is the power source of the robot system. Its performance and stiffness directly affect the overall performance of the robot and the accuracy of control. Most of the existing robot driving methods use purely rigid motors. Although the high-rigidity drive system achieves Accurate positioning of the actuator and precise track tracking, but with the acceleration of people's life rhythm, people are more pursuing a healthy lifestyle and a comfortable working environment, and are unwilling to do very difficult, dangerous, unhygienic work, nor Willing to do boring and repetitive work, the focus of ro...

AI Technical Summary

Problems solved by technology

The driver is the power source of the robot system. Its performance and stiffness directly affect the overall performance of the robot and the accuracy of control. Most of the existing robot driving methods use purely rigid motors. Although the high-rigidity drive system achieves Accurate positioning of the actuator and precise track tracking, but with the acceleration of people's life rhythm, people are more pursuing a healthy lifestyle and a comfortable working environment, and are unwilling to do very difficult, dangerous, unhygienic work, nor Willing to do boring and repetitive work, the focus of robot research has gradually shifted to "human-centered" service robots, which has brought new challenges to the field of robot research, that is, human-robot interaction

The greatest danger in the process of contact between service robots and people comes from the collision between them. Although there have been a lot of research on collision detection and collision avoidance, it is impossible to avoid absolutely no collision

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