The Design Of Adjustable Stiffness Elastic Passive Robot Joints

Bionic robot system for human science and engineering can improve the robot system dynamic energy efficiency, flexibility to adapt to the unknown environment is an important development direction for the future of robotics research areas. Bionic leg hopping robot system is an important branch of the bionic robot systems, and has strong ability to adapt to unstructured environments. In order to improve energy efficiency, flexibility, dynamic high-speed movement, and bionic kangaroo-leaping robot is subject to application target and develop a class of robot passive rotational joint realizing bionic leg jumping robot system of variable speed passive movementBased on second order non-holonomic constraints, running, jumping biomimetic robots of variable speed passive movement, design a kind of passive joints that is more suit for the body structure model-adjustable stiffness elasticity passive robot joints, the prototype can continuously change the rotation of the elastic stiffness. Applied to the bionic leg jump robot systems can change the dynamic performance parameters. it was able to lay the foundation for the dynamic movement of the robot system.This paper presents a continuous adjustment of the rotational stiffness of the passive robot joint structure design. First, the application of the experimental prototype based on the small power motor control to adjust the rotational stiffness to improve the robot system energy efficiency based, in order to achieve the passive dynamics, periodic motion of the dynamic high-speed movement and the system of the robot system as the goal practicality of the characteristics of structural design, and propose the program of mechanical structure; Second, design the detailed structure taking the planar non-contact scroll spring that can happen a large elastic deformation as the core of the elastic element; Then, simplify the elastic component and calculate, use ANSYS software to analysis the flat non-contact scroll spring witch has simplified by the load deformation; Finally, manufacture the experimental prototype, and through the experimental methods, collect and analysis experimental data to validate the calculation results. Provide reference data for the final design of a variable-speed passive periodic motion of the bionic leg hopping robot. In addition, also presents an adjustable stiffness elasticity linear telescopic passive robot joint, and detail structural design.Finally, for the existence of inadequacies in the design process of the study, the paper proposes idea about next work that studies bionic mechanical systems of variable passive periodic motion.