一种新型变刚度机器人关节动态特性分析

Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System Pub Date : 2021-08-20 DOI:10.1145/3483845.3483853

Mulin Luo, Qingsong He, Xue-li Han, Yongxu Li, Hui Jin

{"title":"一种新型变刚度机器人关节动态特性分析","authors":"Mulin Luo, Qingsong He, Xue-li Han, Yongxu Li, Hui Jin","doi":"10.1145/3483845.3483853","DOIUrl":null,"url":null,"abstract":"In this paper, a new type of variable stiffness joint is proposed, which uses spring as elastic element, gear rack and special-shaped shell as stiffness adjusting mechanism, and is applied to industrial robot. The stiffness adjustment characteristics of variable stiffness joints are studied. The dynamic model of the joint system is established. The correctness of the dynamic model is verified by MATLAB/Simulink simulation experiment. The relationship between the stiffness of the variable stiffness joint and the rotation angle of the mechanism, the relationship between the stiffness of the joint and the angular velocity, the input response of the joint system in different states, and the torque state of the joint output are studied, which provides a theoretical basis for the research of the variable stiffness joint in the future.","PeriodicalId":134636,"journal":{"name":"Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System","volume":"673 ","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Dynamic characteristics analysis of a new variable stiffness robot joint\",\"authors\":\"Mulin Luo, Qingsong He, Xue-li Han, Yongxu Li, Hui Jin\",\"doi\":\"10.1145/3483845.3483853\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a new type of variable stiffness joint is proposed, which uses spring as elastic element, gear rack and special-shaped shell as stiffness adjusting mechanism, and is applied to industrial robot. The stiffness adjustment characteristics of variable stiffness joints are studied. The dynamic model of the joint system is established. The correctness of the dynamic model is verified by MATLAB/Simulink simulation experiment. The relationship between the stiffness of the variable stiffness joint and the rotation angle of the mechanism, the relationship between the stiffness of the joint and the angular velocity, the input response of the joint system in different states, and the torque state of the joint output are studied, which provides a theoretical basis for the research of the variable stiffness joint in the future.\",\"PeriodicalId\":134636,\"journal\":{\"name\":\"Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System\",\"volume\":\"673 \",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-08-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/3483845.3483853\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3483845.3483853","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

提出了一种以弹簧为弹性元件，齿轮齿条和异形壳为刚度调节机构的新型变刚度关节，并将其应用于工业机器人。研究了变刚度节点的刚度调节特性。建立了关节系统的动力学模型。通过MATLAB/Simulink仿真实验验证了动态模型的正确性。研究了变刚度关节刚度与机构转角的关系、关节刚度与角速度的关系、不同状态下关节系统的输入响应以及关节输出的转矩状态，为今后变刚度关节的研究提供了理论基础。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Dynamic characteristics analysis of a new variable stiffness robot joint

In this paper, a new type of variable stiffness joint is proposed, which uses spring as elastic element, gear rack and special-shaped shell as stiffness adjusting mechanism, and is applied to industrial robot. The stiffness adjustment characteristics of variable stiffness joints are studied. The dynamic model of the joint system is established. The correctness of the dynamic model is verified by MATLAB/Simulink simulation experiment. The relationship between the stiffness of the variable stiffness joint and the rotation angle of the mechanism, the relationship between the stiffness of the joint and the angular velocity, the input response of the joint system in different states, and the torque state of the joint output are studied, which provides a theoretical basis for the research of the variable stiffness joint in the future.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System

自引率

0.00%

发文量