Design And Analysis Of Variable Stiffness Humanoid Elbow Joint

Since the 1960s,robotics has been widely used in the industrial field,greatly improving the factory's production efficiency.But,with the continuous development of robotics,the field of robotics is also becoming more and more widely used,such as medical and service industries.However,the traditional industrial robots can not be applied to the field of human interaction due to the need of work and the fixed stiffness of joints,which can not change the rigidity according to the actual environment.In the context of new needs,the robot technology of imitating humanoid variable stiffness has been gradually developed and has been greatly developed.Imitation human variable stiffness robot can change its own joint stiffness according to the actual environment changes,improve the flexibility of the robot,but also improve the safety of human-robot interaction.In this paper,through a comprehensive comparison of all kinds of variable stiffness principle,choose two variable stiffness principle:changing the effective working length of the spring and linear spring and non-linear device combination to design two Imitation human variable stiffness elbow structure,which are close to the actual parameters of human elbow.The main contents of the thesis are as follows:(1)Access to relevant literature,research imitation of human joint stiffness research significance,development prospects and the research status of research institutes both at home and abroad on the joints of humanoid rigid joints;(2)The principle of two kinds of structure with variable stiffness is introduced.At the same time,the principle of two kinds of variable stiffness is analyzed,and the design of the artificial elbow joint is based on two principles;(3)Structural design and analysis of the two principles of artificial variable stiffness elbow are carried out respectively.Mainly to design variable stiffness structure,motor selection,transmission structure and the overall structure and strength check;(4)Adams and ANSYS are used to simulate the variable stiffness of two kinds of artificial variable stiffness elbow joints respectively.(5)Build a prototype of one of the joints with variable stiffness,and test it to get the overall joint experimental results and analysis to further verify the rationality of the structure.