Design And Research On Flexible Components Of Compliant Actuators

In recent decades,the original unchanged working environment of the robot has become more flexible and diverse.When the robot is operating in a dynamic environment,an unexpected collision between the robot and the environment may occur.If these collisions happen,we need try our best to decrease the damage for the robot and impactors.This becomes even more important as robots operate with humans in the same environment.Therefore,the design of this robot has higher requirements besides the accuracy.Usually,adding the flexible element in the traditional robot joint actuator can improve the performance of the actuator.Therefore,the subject design and research the flexible element structure,and gives the relevant design and analysis methods.After the analysis of the flexible element,we obtain the performance of the flexible structure.Finally,the experimental platform is designed and processed in-kind to complete further experimental tests.The specific work of this subject is as follows:(1)Firstly,the definition,category,compositional elements and the method theory of compliant actuator are introduced in detail.Secondly,the main research background and research significance of compliant actuator in domestic and foreign countries are described.Finally,discussed the research status and development trend of the compliant actuator.(2)Based on the design and analysis of flexible cantilever beam and flexible planar spiral spring,the main factors that affect the performance characteristics of flexible elements are obtained.On this basis,with the changes of the structure scale and the shape,constantly optimize the expansion of structural styles,ultimately gain the flexible element infrastructure.(3)According to the factors which may influence the flexible elements and the obtained basic structural of flexible element,the basic model of the flexible elements is created.The optimization design of the flexible element is carried out by using Response Surface Optimization analysis tool in ANSYS Workbench,and obtained the optimal solution finally.Considering the hysteretic characteristics of the flexible element,a double-plate pre-tensioned structure is designed.Based on the analysis,get the structure of flexible element with thinned middle beam and double-piece pre-tensioned structure.(4)Comparing and analyzing the performance of flexible elements withprefabricated and non-preconditioned,including the strength analysis,deformation analysis,buckling analysis,rain flow fatigue analysis,and using the least square method for stiffness curve fitting analysis.(5)According to the simple physical model of ordinary driver,the dynamic mathematical model of compliant actuator is deduced;Then use MATLAB to get the Nyquist curve,Byrd diagram and the system response curve and complete the analysis of the stability and response characteristics of the actuator system.Design experimental test prototype,processing bench and flexible components,assemble the experimental machines.