| The safety of human-computer interaction is the most basic principle in the field of robot.The robot with variable stiffness and flexible joints can satisfy the advantages of interactive security,reliability,stability and strong adaptability.It is an important research field in the future development of robot industry.Therefore,this paper designs a kind of flexible joint,which is safe and reliable,and can adjust the stiffness in a wide range,and studies its control method in order to obtain a good stiffness characteristic of the joint.The main contents of this paper are as follows:Firstly,the joint variable stiffness scheme is designed.Based on the former design scheme and based on the bending model of cantilever beam,the variable stiffness scheme of flexible joint is designed by using flexible circular bar,and the principle analysis and joint configuration analysis are carried out.Secondly,the dynamic characteristics of flexible joints with variable stiffness are analyzed based on the design scheme.The mechanical analysis of flexible circular rod of variable stiffness mechanism is carried out,the stiffness expression of flexible joint is given,and the relevant parameters of flexible joint are simulated and analyzed by MATLAB.A dynamic model for stiffness identification of flexible joints is established,and the stiffness identification of flexible joints is studied.Then,the control method of flexible joints with variable stiffness is studied.The control model of the flexible joint is established,the transfer function of the flexible joint system is deduced,and the PID controller based on BP neural network is designed,and the Simulink simulation analysis is carried out by using MATLAB software.Finally,the static stiffness identification test and dynamic stiffness identification test are carried out.The stiffness characteristics and wide range variable stiffness of the flexible joints of the robot are tested,and the experimental data are processed and the error analysis is carried out. |
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