东北大学学报:自然科学版 ›› 2017, Vol. 38 ›› Issue (12): 1748-1753.DOI: 10.12068/j.issn.1005-3026.2017.12.017

• 机械工程 • 上一篇    下一篇

一种新型变刚度关节结构设计

房立金, 周生啟, 王颜   

  1. (东北大学 机械工程与自动化学院, 辽宁 沈阳110819)
  • 收稿日期:2016-06-20 修回日期:2016-06-20 出版日期:2017-12-15 发布日期:2018-01-02
  • 通讯作者: 房立金
  • 作者简介:房立金(1965-),男,辽宁沈阳人,东北大学教授,博士生导师.
  • 基金资助:
    国家自然科学基金资助项目(51575092); 辽宁重大装备制造协同创新中心项目.

Structure Design of a New Variable Stiffness Joint

FANG Li-jin, ZHOU Sheng-qi, WANG Yan   

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
  • Received:2016-06-20 Revised:2016-06-20 Online:2017-12-15 Published:2018-01-02
  • Contact: FANG Li-jin
  • About author:-
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摘要: 为研制出一种符合人体肘关节参数的变刚度关节结构,使其在实际应用中能更好帮助到人类.以人体肘关节为例提出了一种符合人体关节形态的变刚度关节结构.在关节中采用了弹簧片、行星轮系和曲柄滑块机构.通过两台电机分别驱动太阳轮和外齿圈,将行星轮的转动转化成滑块的移动,从而改变弹簧片的支撑位置并改变关节的刚度.与其他同类设计相比,所提出的关节在结构和布局方面更符合人体关节的结构形态,可应用于其他关节的设计.

关键词: 变刚度关节, 结构设计, 肘关节, 仿生机器人, 实验分析

Abstract: Designing a stiffness joint structure that accords with the elbow parameters of the human body, make it better to help people in practical applications. Based on the parameters of the human elbow joint, a new variable stiffness joint structure is presented, which is in line with the human joint configuration. The new joint consists of leaf springs, planetary gear train and crank-slider mechanism. The sun gear and the ring gear are driven by two different motors, and the rotations of the planetary gears are turned into the movement of the sliders. The supporting positions of the leaf springs change as the sliders move, and the stiffness of the joint is adjusted. Compared with that of the other similar designs, the structure and the layout of the new joint presented are in much more accord with the configuration of the human joint, and the new joint could be applied to other joint designs.

Key words: variable stiffness joint, structure design, elbow joint, bionic robot, experimental analysis

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