A permanent magnet variable stiffness drive module for soft robots

Abstract

A permanent magnet variable-stiffness drive module for flexible robots is suitable for antagonistic flexible variable-stiffness robots, and is particularly suitable for the construction of multi-degree-of-freedom flexible parallel variable-stiffness robots. Compared with the prior art, the present invention increases the stiffness adjustment range without increasing the motor torque. When building a multi-freedom flexible robot, the drive unit and variable stiffness module can be placed at the rear to greatly reduce the mass and inertia of the operating arm, thereby solving the traditional series mode's insufficient stiffness change capability caused by the step-by-step increase in mass and inertia. Shortcomings. In the invention, one end of the rope is fixed on the rope winch and passes through the fixed pulley, the movable pulley and the rope winch in sequence. The rope winch and the fixed pulley are circumscribed in the same straight line, and the movable pulley is clamped on the symmetrical axis of the two fixed pulleys. The air gap distance between the annular permanent magnets decreases as the distance between the moving sliding seat and the fixed seat decreases, and the rope tension and stiffness increase. The invention is a permanent magnet variable stiffness drive module for flexible robots with simple motion form, simple manufacturing and simple operation.

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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