Research And Design Of The Bionic Variable Stiffness Drive Joints

In recent years,the robot technology is developing rapidly,and the robot is no longer confined to industrial production,and many new service robots are emerging in many fields such as service,medical treatment,entertainment,etc..Traditional industrial robot joints with high motion precision,strong load capacity and easy to realize optimization trace control characteristics,mostly using high rigid driving,does not have the active variable stiffness ability,have very strong advantages in specific structured environment,but if the use in new service robot will appear a lot of problems,not well completed a variety of complex tasks,in frequent and interactive objects and easy to cause security problems.Therefore,the research on the robot with the flexibility of the robot has the important meaning and the important task of the service robot research in the future..Human joints have the ability to change stiffness,and can adapt to a variety of complex environment and complete a variety of tasks,we hope that the bionic robot joints can also have this feature.In this paper,a new type of bionic variable stiffness driving joint is proposed,and the research content can be divided into the following points.:1.The research on the drive joints of the variable rigidity of the University and the Research Institute at home and abroad,and the analysis and sum of the variable rigidity principle of the variable rigidity driving joints of the variable rigidity drive joints.2.The mathematical model of the new bionic variable stiffness driving joint is proposed for the project team,and the mathematical relationship of the variable is deduced..Establishes the static model of the joint is driven,the relationship between rigid rope pulling force and linear spring tension,finally the bionic variable stiffness driven variable stiffness property of the joint were analyzed,including isometric variable stiffness characteristics and just shrinkage and stiffness characteristics,for the practical application of laid the solid theoretical foundation.3.according to the literature of human elbow joint torque range determined stiffness and joint design torque of the driving variable,of bionic variable stiffness driving joint in various parts of the calculation and selection,and then use the SolidWorks 3D modeling software of variable stiffness actuation joints were the establishment of 3D model and according to the size,strength and shortcoming of the optimization,for the future manufacturing prototype experiment lay the foundation.