Permanent magnetic rigidity variable drive module for flexible robot

Abstract

A permanent magnetic rigidity variable drive module for a flexible robot is suitable for establishing an antagonistic type flexible rigidity variable robot, especially a multi-freedom-degree flexible parallel rigidity variable robot. Compared with the prior art, the permanent magnetic rigidity variable drive module has the beneficial effect that under the situation that no motor torque is increased, the rigidity adjusting range is enlarged. When the multi-freedom-degree flexible robot is established, a drive unit and a rigidity variable module can be arranged on the rear part, the mass and the inertia of an operation arm are greatly reduced, and therefore the problem that in a traditional series manner, the rigidity change capacity is insufficient as the mass and the inertia are gradually increased is solved. According to the permanent magnetic rigidity variable drive module, one end of a rope is fixed to a rope winch, the rope sequentially penetrates through fixed pulleys, a movable pulley and a rope winch, the rope winch and the fixed pulleys are externally tangent to the same straight line, and the movable pulley is clamped to a symmetrical axis of the two fixed pulleys. The air gap interval between annular permanent magnets is reduced as the distance between a movable sliding base and a fixed base is reduced, and the rope tensile force and the rigidity are improved. The permanent magnetic rigidity variable drive module for the flexible robot is concise in movement type, easy and convenient to manufacture and easy to operate.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, and in particular relates to a permanent magnet variable stiffness drive module for flexible robots, which is used to construct antagonistic flexible variable stiffness robots, and is especially suitable for the construction of multi-degree-of-freedom parallel flexible variable stiffness robots. Background technique [0002] Flexible variable stiffness robot is a kind of flexible robot with adjustable stiffness that is different from traditional rigid robots. Due to its adjustable stiffness, it can greatly improve human-machine safety and environmental adaptability. It involves bionics, robotics, and materials science. And control and other disciplines have become an important direction for the future development of robots. [0003] The variable-stiffness robot joints based on parallel rope resistance drive are the closest to human joints in the driving mode, and most of them change the j...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a permanent magnet variable stiffness drive module for flexible robots, which can achieve a larger stiffness adjustment range without increasing the torque of the drive motor. When building a flexible robot, the drive unit and the variable stiffness module can be combined Rear position, especially when constructing a multi-degree-of-freedom flexible robot, can greatly reduce the mass and inertia of the manipulator arm, thereby solving the shortcomings of the traditional series mode, due to the gradual increase in mass and inertia of the flexible robot. ;

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