The Design Of Flexible Joint Robot System

Since the 60s of last century,robots have been widely used in all walks of life,especially in the field of machinery and aerospace.However,the traditional robot has many disadvantages,and certain limitations.So in recent years,the flexible joint robot has attracted widespread attention and become one of the research hotspots.In order to make flexible joint robot complete the assigned task better,it should have higher requirements on the mechanism design and control method.This paper studies the flexible joint robot,mainly focuses on the research of mechanism design,flexible joint control system and using different control methods to control the flexible joint robot.Firstly,this paper simplifies the physical model of the flexible joint robot and establishes its dynamic model based on Lagrange equation.Using the software simulates the dynamic model of the system,which verifies the validity of the dynamic model,and it provides an important theoretical basis for the research of the control strategy.Secondly,according to the requirements of the project,the flexible joint robot mechanisms are designed,which includes the robot bracket,the flexible joint driver,the adjustable friction damper,etc.Thirdly,the high precision control strategy of the flexible joint robot is explored.Different control methods,including PID control,learning control and sliding mode control,are used to control the flexible joint robot,and are analysed the response characteristics of the system to verify the effectiveness of the control strategy.Then,the control system of flexible joint robot,including electrical design,hardware and software design,which can complete the entire robot driving,sensing,data collecting and control functions,is designed.Finally,the experimental platform of the flexible joint robot is built.The damping and damping ratio of the system are measured,and the effects of different damping on the system are studied.Control experiments verify the effectiveness of different control strategies for flexible joint robot,and then paper analyses the influence of different parameters on the system.