柔性机器人的关节设计与制作

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A new design of open thin-walled flexure joints for parallel robots is proposed. The range of motion and stiffness are assigned as design requirements for determining geometric parameters of joints. The ioints made of 65Mn spring steel are assembled in the parallel robot. Meanwhile, the torsion is used as the major mode of open thin-wall flexure joints＇ deformation, which veri fies the advantages such as large range of motions and relative fixed rotation axis for such joints.本文设计了一种应用于并联机器人上的新型开槽式薄壁柔性关节。以并联机器人运动过程中关节所需的最大扭转刚度以及运动产生的关节最大扭转角度作为设计条件,对关节结构进行设计计算,确定关节几何尺寸。然后根据设计尺寸及使用条件,选择弹性较大并且便于加工的弹簧钢65Mn为材料进行加工制作,并将实物安装在并联机器人上。该关节利用扭转变形作为主要变形方式,具有扭转角度大和轴线相对固定不易漂移的优点。