A New General Variable Stiffness Manipulator Joint

Abstract

A new type of universal variable stiffness manipulator joint, the output of the harmonic reducer is fixedly connected to the threaded end of the trapezoidal screw, when the trapezoidal screw rotates, the screw nut and the trapezoidal screw can produce relative axial movement; the screw nut and the screw The screw nut fixed plate is fixedly connected, the screw nut fixed plate and the roller bearing plate can move axially relative to the joint shell along the guide rail fixed on the inner side of the joint shell; the mold spring is set on the lead screw nut fixed plate and the roller bearing plate between the roller bearing plate and the horizontal end of the trapezoidal screw, the arc-shaped wheel is set on the trapezoidal screw, and the horizontal end of the trapezoidal screw radially positions the trapezoidal screw and the bearing mold through the bearing The spring acts on the force and transmits it to the arc-shaped wheel; the arc-shaped wheel is fixedly connected with the output flange and rotates relative to the joint shell through the bearing support; the arc-shaped wheel and the rollers installed on the roller bearing plate The bearing fits to convert the external acting torque acting on the output flange into the compressive force acting on the spring.

Description

technical field [0001] The invention belongs to the field of mechanical arm joint design and relates to a novel universal variable stiffness mechanical arm joint. Background technique [0002] For a multi-joint robot for operation, if it is facing an unstructured environment, collision or contact between the operating end and the environment is inevitable. Rigid collisions may cause permanent damage to the robot structure, and can destroy the operating object or endanger the operator. There are mainly two solutions to this destructive collision. One is to adjust the contact force and moment between the contact object and the contact object through the software design of the compliant control algorithm to ensure the safety of the contact. However, this method is subject to the entire control system. Bandwidth constraints make it impossible to respond quickly. Another method is to improve the hardware design, using joints with active stiffness adjustment, and adding a flexib...

AI Technical Summary

Problems solved by technology

[0002] For a multi-joint robot for operation, if it is facing an unstructured environment, collision or contact between the operating end and the environment is inevitable. Rigid collisions may cause permanent damage to the robot structure, and can destroy the operating object or endanger the operator

There are mainly two solutions to this destructive collision. One is to adjust the contact force and moment between the contact object and the contact object through the software design of the compliant control algorithm to ensure the safety of the contact. However, this method is subject to the entire control system. Bandwidth constraints, unable to respond quickly

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