Volume 37, Number 2, April 2019
|Page(s)||242 - 248|
|Published online||05 August 2019|
Design and Analysis of Variable Flexible Actuator for Human-Robot Interaction
School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China
In view of the shortcomings of the traditional high-rigidity robots that can't ensure safety of human-robot interaction and the adaptability of complex environment, a variable stiffness flexible actuator is proposed for the robot joint based on the magnetorheological (MR) effect of MR Fluids. In this paper, the principle of flexible joint drive is detailed, and design the structure of the drive and perform mechanical analysis is designed. At the same time, the magnetic field analysis of the actuator is carried out by using the magnetic field simulation software Maxwell. Finally, the actuator is simulated and verified. Comparing the analysis of the results, the actuator has the characteristics of simple structure, easy control and wider active variable stiffness adjustment range, and can absorb the vibration or shock energy, and improve the robot joint output ability.
Key words: robot joint / flexible actuator / MR fluids / variable stiffness
关键字 : 机器人关节 / 柔性驱动器 / 磁流变液 / 变刚度
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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