Man-robot Collaboration Robot Based On Flexible Joint Mechanical Arm Structure Design And Research

Because of flexibility and security problems,the space of human-robot is isolated,thus in order to realize human closely collaborate with robot in the same space,the flexibility and security of robots have become a top priority and main difficulty.Joint of robot baced on series elastic actuator,which is physical foundation for security and flexibility of joint has been designed.Mechanical arm based on the flexible joint has been designed,the energy consumption and compliant control algorithm of flexible joint have been studied.The main contents and innovation achievements are as follows:1.A hollow flexible joint based on series elastic actuator has been designed,the torsional elastic element makes the structure series elastic actuator more compacttable,ANSYS was used to analyze the stress and strain of torsional elastic element,the results show that the design requirements are met.2.Experimental simulation of external shock was taken,the customized torsional spring reducing the effect of joint stiffness was verified,the inputing energy consumption of joint was studied,which concluded that increasing the joint damping could reduce energy consumption of the flexible joint in high-frequency,The theoretical basis was found for the addition of rotating dampers for joint design.3.Mechanical arm of the robot with 4 DOF has been designed,the D-H method was adopted to calculate the kinematics solution,inverse kinematics solution and Jacobi matrix of mechanical arm,the kinematics was simulated,the monte carlo method was used to get the point cloud of work space of the mechanical arm.4.A relativel comprehensive dynamic model of the flexible joint has been established,the structure of controller with internal position ring and outer force ring,open-loop transfer function and admittance control parameters formula have been solved,location tracking curve and interactive moment curve were obtained by experimentalsimulation,which concluded that based on the location of the admittance control can effectively reduce the interactive moment.