On The Structural Design, Simulation And Experiment Of Compliant Joints

The parallel robot is a new important branch of robot field developed in recent years. Ithas many advantages, such as high rigidity, high precision and strong loading capacity. Dueto problems caused by the gap, friction and impact in the kinematic pair, the rigid parallelrobot can not satisfy the requirement of modern development. Compliant joints can beapplied into the parallel robot to replace traditional kinematic pair, and problems can besolved radically. At present, most of the studies are mainly on the performance analysis anddesign of micro operation robots with flexure hinge, but the study on the design of compliantjoints in the parallel robots is very little. Therefore, the study on the parallel robot withcompliant joints has become an advanced topic in the mechanisms and robotics. Based onthe parallel robot with compliant joints, the structural design, simulation and experiment ofcompliant joints are presented.The main aspects are as follows:Firstly, based on structural characteristics of planar3-RRR rigid parallel robot, thecompliant joint with torsional spring and that with gap are designed and manufactured toreplace the traditional rigid revolute pair, and structural parameter of robot is adjusted.Mechanical system of parallel robot with compliant joints is set up.Secondly, the simulation model is established by SolidWorks and ADAMS, and thekinematic simulation of parallel robot with compliant joints is accomplished. Throughcomparative analysis of simulation with theory trajectory, the results show that compliantjoints in the application of parallel robot can be very good for transferring force.Finally, based on the control system of parallel robot with compliant joints, the kinematicsimulation and experimental studies on parallel robot with two kinds of compliant joints arepresented by using method of the Optotrak and linear data acquiring system. Compared withtraditional kinematic pairs, it is shown that the effectiveness of compliant joints withtorsional spring and gap type is tested. Through comparative analysis of experimental data,the superiority of compliant joints with torsional spring is shown.