一种三自由度缆索驱动变刚度关节模块的设计分析

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI:10.1109/ROBIO.2015.7418822

Kaisheng Yang, Guilin Yang, Jun Wang, Tianjiang Zheng, Wei Yang

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引用次数: 10

摘要

变刚度机械臂可以产生本质安全的运动，这对下一代服务机器人是必不可少的。本文提出了一种三自由度变刚度索驱动关节模块的设计分析方法。为了实现刚度的显著变化，将基于挠曲的变刚度装置串联到每根电缆上。由于冗余作动的存在，通过调节索张力来控制连接模块的刚度。为此，推导并分析了节点模组刚度矩阵与索张力之间的关系。仿真算例说明了所提出的刚度评估算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design analysis of a 3-DOF cable-driven variable-stiffness joint module

Variable-stiffness manipulators can produce intrinsically-safe motions, which are essential for next generation service robots. In this paper, the design analysis of a 3-DOF cable-driven joint module with variable stiffness is proposed. To achieve significant change of the stiffness, a flexure-based variable-stiffness device is serially connected to each of the cables. Due to the existence of redundant actuation, the stiffness of the joint module is controlled by regulating the cable tensions. To this end, the relationship between the stiffness matrix of the joint module and the cable tensions has been formulated and analyzed. Simulation examples are provided to illustrate the effectiveness of the proposed stiffness evaluation algorithm.

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2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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