变刚度机构及其在协作型机器人中的应用
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Variable Stiffness Mechanisms and Their Applications to Collaborative Robots
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    摘要:

    协作型机器人被广泛应用于自动化和物料搬运。为承载有效载荷并实现精确运动,协作型机器人需要具备足够的刚性。此外,为满足人机交互的安全性,协作型机器人还需要具备足够的灵活性,变刚度机器人则同时满足了安全性与刚性的要求。该文首先介绍了变刚度机器人的相关研究和几种基于机械结构的可变刚度方法,并对其工作原理进行分类;然后根据刚度范围、刚度比和响应时间等标准,对现有方法进行定量比较,简单总结各种方法的优缺点,并介绍了相关变刚度机构在协作型机械臂和抓手中的应用。

    Abstract:

    Collaborative robots or Co-robots are widely used in automation industries and material handling. Co-robots are designed to work with human workers side by side. However, safety is a challenging major concern. Rigidity is required to carry a payload and achieve accuracy in motion, while flexibility is often required for safe human interaction. Robots with control over their stiffness could combine some of the advantages seen in compliant robots with the performance of traditional rigid robots. This paper introduces the related research on variable stiffness robots and several variable stiffness solutions based on mechanical structures. These methods are classified based on the working principles and compared quantitatively based on the criteria such as stiffness range, stiffness ratio, and response time. Pros and cons are also described for each method. Researchers in design innovation and simulation laboratory also present several example applications of these variable stiffness mechanisms to collaborative robotic arms and grippers.

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引文格式
曾宪湃,MORRISON Tyler,傅绎琳,等.变刚度机构及其在协作型机器人中的应用 [J].集成技术,2022,11(6):36-47

Citing format
ZENG Xianpai, MORRISON Tyler, FU Yilin, et al. Variable Stiffness Mechanisms and Their Applications to Collaborative Robots[J]. Journal of Integration Technology,2022,11(6):36-47

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  • 在线发布日期: 2022-11-28
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