基于曲柄滑块机构变刚度关节的设计与分析

为了解决人机交互中的物理接触带来的刚性碰撞和安全隐患问题，以机器人关节模块为出发点，提出了一种新型变刚度关节。设计了变刚度关节的曲柄滑块刚度调节机构，分析了变刚度原理，建立了数学模型，搭建了样机，分别就关节刚度与关节偏转角度、板簧有效长度、调节机构输入角等参数关系进行了实验分析。实验证明，该方案可实现关节刚度的调节。

Design and Analysis of Variable Stiffness Joints Based on Crank-slider Mechanism

In order to solve the problems of rigid collision and potential safety hazards caused by physical contact in human-robot interaction, joint module was taken as a starting point, and a new type of variable stiffness joint was proposed. In this paper, the stiffness adjustment mechanism was designed, the variable stiffness principle was analyzed, and the mathematical model was established. Finally, the mechanical structure of the prototype was built, and the simulation analysis experiments were performed on the relationship between the joint stiffness, the angle of joint deflection, the effective length of the leaf spring, and the input angle of the adjustment mechanism. The simulation experiment results show that this scheme is feasible in realizing the mechanism of adjusting joint stiffness.