基于柔性齿条机构的变刚度关节驱动器的设计与研究

项目名称： 基于柔性齿条机构的变刚度关节驱动器的设计与研究

项目编号： No.51305008

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 王伟

作者单位： 北京航空航天大学

项目金额： 26万元

中文摘要： 在非结构环境下自主作业或进行人机协作时，机器人的安全性、动态特性和节省能量是领域内的研究热点。变刚度关节驱动器在刚性减速器输出端串联一个刚度可调的弹性环节，可实时调节机器人的关节刚度，提高机器人的适应性，对扩大服务机器人和特种机器人的应用领域具有重要意义。基于柔性齿条机构的变刚度关节驱动器的力学模型为两端固支的、受力点可变的静不定弹性梁，且关节刚度与调节位移的平方成正比。本项目计划研究该种变刚度关节驱动器的工作机理，开展静力学分析、动力学建模和最小能量消耗等方面的科学研究。通过理论分析和样机试验，力争在变刚度机构、生物变刚度与物理变刚度之间的内在联系、刚度控制与最小能量消耗的科学关系等三个方面取得突破，为新一代机器人变刚度关节驱动技术提供设计方法和理论依据。

中文关键词： 机器人；变刚度；柔性齿条；动力学；爆发力

英文摘要： During the autonomous operation in the unstructured environment or the co-operation with people, human-robot safety, high dynamic performance and energy saving of robots are some research hotpots in the robotics field. The Variable Stiffness Joint Actuator(VSJA), having a flexible element in series with the output end of the rigid reducer, can regulate the robot's joint stiffness to meet the task requirements and upgrade its adaptability, which plays an important role in expanding the application field of service robots and specialized robots. The mechanics model of VSJA with the Flexible Toothed Rack (FTR) mechanism can be abstracted as the statically indeterminate beam with double clamped constraints and variable point of force，and the joint stiffness turns to be proportional to the square of the displacement of the stiffness regulating gear with respect to FTR. This project plans to research the working principles of VSJA with FTR, analyze its static and dynamic performance and minimize the energy consumption. Through the theoretical analysis and experiments with the physical prototype, Three aspects on the mechanism of stiffness adjusting, the intrinsical relation between the biologically variable stiffness and physically variable stiffness and the scientific principle between stiffness regulation and energy

英文关键词： Robot；Variable stiffness；Flexible rack；Dynamics；Explosive force