Mechanical Design And Optimization Of The Seven-DOF Humanoid Flexible Manipulator

In the field of robotics,human-robot collaboration and safety interaction need to be accomplished by the robot’s flexibility.When the traditional industrial robotic manipulators are working,they need to exclude people outside the work area to ensure the safety.In order to achieve human-robot collaboration and ensure the safety of human-robot interaction,the flexibility of the manipulators needs to be realized.In this thesis,we will study the seven-DOF humanoid flexible manipulator and the elastic torque sensor.To achieve the flexibility,Series Elastic Actuator(SEA)is adopted in the design of the flexible manipulator.SEA is characterized by torque measurement can be achieved to absorb external shocks.In addition,in order to monitor the change of the elastic coefficient of the elastic element in real time and reduce the calibration work,the research of the elastic torque sensor is needed.These researches have played an important role in updating the advanced intelligent flexible arm components and achieving the flexibility of the robot.In this thesis,we design the seven-DOF humanoid flexible manipulator and the elastic torque sensor.The main research contents include following parts:1、Bionic design and analysis of the seven-DOF humanoid flexible manipulator For the seven-DOF humanoid flexible manipulator,this thesis reference human upper limb movement mechanism,combined with the principles and methods of structural design,reference to the relative proportion of human upper limbs,determine the physical parameters of the flexible manipulator and related design points.2、Mechanical structural design and analysis of the seven-DOF humanoid flexible manipulator.Through the Adams simulation to obtain the various joints of the torque and angular velocity curve,thus key components selection.According to the actual design requirements,the design of each joint based on SEA is carried out.FEA finite element analysis of each key component is optimized to ensure that the key components are safe and reliable while reducing the weight of the part.3、Elastic torque sensor design.Aiming at the change of SEA elastic coefficient,a kind of elastic torque sensor combining plane torsion spring with torque measurement is proposed.The planar torsion spring unit design of elastic torque sensor is carried out,and the elastic coefficient calibration is carried out.Carry out the torque measurement unit design of the elastic torque sensor and build the circuit measurement module.The plane torsion spring used to achieve joint torque control.Torque sensors are used to monitor the elastic changes of elastic components.By calibrating the elasticity coefficient online,it can reduce the workload of calibration and improve the control accuracy.