CN108000554B - Leaf spring-based variable-rigidity flexible joint and control method thereof - Google Patents
Leaf spring-based variable-rigidity flexible joint and control method thereof Download PDFInfo
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- CN108000554B CN108000554B CN201711239915.8A CN201711239915A CN108000554B CN 108000554 B CN108000554 B CN 108000554B CN 201711239915 A CN201711239915 A CN 201711239915A CN 108000554 B CN108000554 B CN 108000554B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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Abstract
The invention discloses a leaf spring-based variable-stiffness flexible joint which comprises an input shaft, an output shaft, a stiffness adjusting mechanism, a displacement detection system and a control system, wherein the input shaft comprises a first input shaft and a second input shaft; the output shaft comprises a first output shaft, a second output shaft and an output end cover; the rigidity adjusting mechanism comprises a control motor, an adjusting disc, a connecting rod group, a leaf spring group and a sliding block group; the input shaft is matched with the output shaft through a revolute pair and fixed in the input shaft; the rigidity adjusting mechanism is installed on the output shaft, the control motor is fixed at the bottom of the first output shaft, the leaf spring group is fixed on the inner side of the second output shaft, and the sliding block group is installed in a sliding groove of the second output shaft. The flexible joint has the advantages of simple structure, miniaturization, easy control, linear adjustment of rigidity, high adjustment precision, small error and wide application range.
Description
Technical Field
The invention relates to a flexible joint, in particular to a leaf spring-based variable-rigidity flexible joint and a control method thereof, and belongs to the technical field of robots.
Background
The robot technology and the driver technology thereof are used as a strategic high-tech technology, have strong drive and technical radiation for emerging industries in the future, develop the robot technology, the driving technology and the perception technology, and have profound significance for promoting the development of economy and society, enhancing the national defense strength, improving the emergency handling capacity of emergencies, improving the livelihood and the like. At present, robots are widely applied in the field of human-computer interaction, for example, in the industrial field, the robots begin to participate in human labor and cooperate with people to complete tasks; in the service industry, catering service robots, humanoid robots, etc. have also been introduced. This shows that the relationship between the robot and the human is more and more close, and the reliability and safety of human-computer interaction are more and more concerned by people, so that it is very important that the robot safely and efficiently participates in human activities. However, the traditional rigid joint robot cannot meet the requirements of human-computer interaction, so that research on novel flexible joints of the variable-stiffness robot becomes an important subject in the field of human-computer interaction.
The flexible joint is used as an important component of the robot, and the flexible element is arranged, so that the vibration and impact generated in the operation or walking process of the robot can be effectively buffered, the joint loss is reduced, the internal precise instruments of the robot are protected from being influenced, and the safety and the reliability of human-computer interaction are ensured; the rigidity of the flexible joint is adjustable, so that the rigidity of the joint can be adjusted according to different requirements to meet the rigidity requirements under different working environments; and moreover, the flexible joint has a variable volume and a simpler structure, so that the flexible joint has stronger practical application adaptability and can be produced according to requirements.
In recent years, the robot control research of unknown environmental rigidity has become a research hotspot. The flexible variable-stiffness joint has better performance under unknown environmental stiffness, so that the flexible variable-stiffness joint is more and more widely concerned. At present, the structural forms of flexible joints mainly include five types, namely an antagonistic type, a spring type, a friction sheet type, a variable transmission type and a mixed type, and most of the flexible joints have the problems of complex structure, large volume, complex control process and difficult linear control of rigidity, for example, Chinese patent CN201610847050.2 discloses a flexible joint of a robot with continuously adjustable rigidity, which realizes the adjustment of the rigidity by compressing the precompression amount of a floating spring, and can realize the continuous adjustment of the rigidity, but has the advantages of complex structure, large volume and poor environmental adaptability; chinese patent CN201410062727.2 discloses a variable stiffness coupling and a variable stiffness driving mechanism, which realizes stiffness adjustment through the deformation of an elastic spring, but because the elastic spring has both bending deformation and torsional deformation, the stiffness of the elastic spring changes nonlinearly, and further it is difficult to realize stiffness adjustment; chinese patent cn201510114055.x discloses a flexible joint with variable stiffness, which adopts a multi-stage gear transmission mechanism, has a complex transmission process, low precision, difficulty in controlling stiffness, a complex structure and limited application.
Disclosure of Invention
The invention aims to provide a leaf spring-based variable-rigidity flexible joint and a control method thereof.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a variable-rigidity flexible joint based on a leaf spring comprises an input shaft, an output shaft, a rigidity adjusting mechanism, a displacement detection system and a control system;
the input shaft comprises a first input shaft and a second input shaft, the first input shaft and the second input shaft are concentrically connected, the second input shaft is of a square plate-shaped structure, and hyperboloid grooves are arranged at four corners of the second input shaft in a mirror image mode;
the output shaft comprises a first output shaft, a second output shaft and an output end cover, the first output shaft and the second output shaft are both of a cylindrical structure with one closed end, the closed end of the second output shaft is provided with sliding groove groups which are distributed at equal intervals along the circumference and extend towards the direction of the circle center, and the first output shaft, the second output shaft and the output end cover are sequentially buckled and fixed;
the rigidity adjusting mechanism comprises a control motor, a dial plate, a connecting rod group, a leaf spring group and a sliding block group, the control motor is arranged on the inner surface of the closed end of the first output shaft, the adjusting disc is a disc, the output shaft of the control motor is connected with a mounting hole at the center of the adjusting disc, the connecting rod group comprises four connecting rods, the four connecting rods are uniformly distributed around the radial direction of the adjusting disc through hinges, the connecting rod group is connected with the sliding block group, the sliding block group is parallel to the cylindrical inner wall of the second output shaft, the leaf spring group comprises four leaf springs, one ends of the four leaf springs are radially arranged on the cylindrical inner wall of the second output shaft, the other end of the spring is arranged in a hyperboloid groove of the second input shaft, a leaf spring in the leaf spring group is sleeved in a sliding block groove hole on a sliding block in the sliding block group, the sliding block group is arranged in the sliding groove group of the second output shaft and is correspondingly matched and installed with the connecting rod group;
the displacement detection system comprises a displacement sensor and a signal converter, and the displacement sensor is arranged on the second output shaft;
the control system comprises a motor driver, a rigidity controller and a computer, wherein the rigidity controller is respectively connected with the motor driver, a signal converter and the computer, and the signal converter is connected with a displacement sensor.
Furthermore, the flexible joint further comprises a limiting protection mechanism, the limiting protection mechanism comprises a first limiting pin, a second limiting pin, a first limiting groove and a second limiting groove, one end of the first limiting pin and one end of the second limiting pin are respectively fixed in a first limiting hole and a second limiting hole of the second output shaft, the other end of the first limiting pin and the other end of the second limiting pin are respectively installed on the second input shaft and are located in the first limiting groove and the second limiting groove which are arranged in a central symmetry mode, and the limiting pins can move in the corresponding limiting grooves.
Further, one end of the leaf spring is mounted on the cylindrical inner wall of the second output shaft through a mounting seat.
Preferably, the control motor is a servo motor or a stepping motor.
Preferably, the displacement sensor is a photoelectric sensor or a linear displacement sensor.
A control method of a variable stiffness flexible joint based on a leaf spring, which uses the variable stiffness flexible joint based on the leaf spring, comprises the following steps:
firstly, setting a joint stiffness value recorded as K through a computer (5-3)0；
Secondly, according to the current position L of the sliding block group (3-5) fed back by the displacement sensor (4-1)iBy the formula
Calculating the current actual stiffness value, and recording as Ki；
In the formula: number of N-leaf springs, modulus of elasticity of E-leaf spring, thickness of b-leaf spring, width of h-leaf spring, distance between L-joint axis and leaf spring force bearing point, psi-input shaft passive angle, L0Original length of leaf spring, Li-a current position of the slide;
thirdly, the rigidity controller (5-2) sets the joint rigidity value K according to the set value0Calculating the theoretical position L of the sliding block group (3-5)1；
Step four, the displacement sensor (4-1) detects the actual position L of the current sliding block group (3-5)iAnd detecting the actual position L of the slider group (3-5)iUploading to a rigidity controller (5-2) in real time;
step five, the rigidity controller (5-2) detects the actual position L of the sliding block group (3-5) according to the displacement sensor (4-1)iAnd the theoretical position L of the sliding block group (3-5)1Comparing and judging whether the two are consistent; if yes, entering a seventh step; if not, entering the step six;
step six, the rigidity controller drives the control motor (3-1) to operate through the motor driver (5-1) to drive the sliding block set (3-5) to move, and the step four is carried out;
and seventhly, finishing.
Compared with the existing variable-rigidity flexible joint, the invention only utilizes the bending of the leaf spring to change rigidity, adopts the single motor to directly control the adjusting disc to drive the sliding block to move, can realize the linear adjustment of rigidity, and has high efficiency, simplicity and convenience in the variable-rigidity control process and small error; the rotary shell and the shaft are used as an output and input mechanism, and the variable stiffness mechanism is arranged towards the axis, so that the joint volume is effectively reduced, the miniaturization and the light weight of the flexible joint can be realized, and the environmental suitability is strong; the invention is also provided with a rotation limiting mechanism which limits the rotation angular displacement of the second input shaft, thereby controlling the bending amplitude of the leaf spring, effectively preventing the plastic deformation of the leaf spring caused by overload and realizing the self-protection of the variable-stiffness joint.
Drawings
FIG. 1 is an exploded view of a leaf spring based variable stiffness flexible joint of the present invention;
FIG. 2 is a schematic view of a leaf spring based variable stiffness flexible joint of the present invention;
FIG. 3 is a schematic view of a stiffness adjustment mechanism according to the present invention;
FIG. 4 is a schematic illustration of an input shaft of the present invention;
FIG. 5 is a schematic view of a second output shaft according to the present invention;
FIG. 6 is a schematic view of a first embodiment of the slider of the present invention;
FIG. 7 is a flow chart of a control method of the present invention;
in the figure: 1. an input shaft 1-1, a first input shaft 1-2, a second input shaft 1-2a, a first limit groove 1-2b, a second limit groove 2, an output shaft 2-1, a first output shaft 2-2, a second output shaft 2-2a, a first limit hole 2-2b, a second limit hole 2-3, an output end cover 2-4, a sliding groove group 3, a rigidity adjusting mechanism 3-1, a control motor 3-2, a regulating disc 3-3, a connecting rod group 3-3a, a connecting rod I, 3-3b, a connecting rod II, 3-3c, a connecting rod III, 3-3d, a connecting rod IV, 3-4, a leaf spring group 3-4a, a leaf spring I, 3-4b, a leaf spring II, 3-4c and a leaf spring III, 3-4d, four leaf springs, 3-5, a sliding block group, 3-5a, a first sliding block, 3-5b, a second sliding block, 3-5c, a third sliding block, 3-5d, a fourth sliding block, 4, a displacement detection system, 4-1, a displacement sensor, 4-2, a signal converter, 5, a control system, 5-1, a motor driver, 5-2, a rigidity controller, 5-3, a computer, 6, a limiting protection mechanism, 6-1, a first limiting pin, 6-2 and a second limiting pin.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the variable stiffness flexible joint based on the leaf spring comprises an input shaft 1, an output shaft 2, a stiffness adjusting mechanism 3, a displacement detection system 4 and a control system 5; the input shaft 1 is matched with the output shaft 2 through a revolute pair and fixed in the revolute pair, the rigidity adjusting mechanism 3 is arranged on the output shaft 2,
as shown in fig. 1 and 4, the input shaft 1 includes a first input shaft 1-1 and a second input shaft 1-2, the first input shaft 1-1 is concentrically connected with the second input shaft 1-2, the second input shaft 1-2 is a square plate-shaped structure, four corners of the square plate-shaped structure are respectively provided with a hyperboloid groove in a mirror image mode, the hyperboloid groove structure can realize line contact with a leaf spring set, and space is provided for leaf spring deformation; the second input shaft 1-2 can be made of stainless steel materials through laser cutting due to the special structure.
As shown in fig. 1, 2 and 5, the output shaft 2 includes a first output shaft 2-1, a second output shaft 2-2 and an output end cover 2-3, the first output shaft 2-1 and the second output shaft 2-2 are both of a cylindrical structure with one end closed, the closed end of the second output shaft 2-2 is provided with chute groups 2-4 which are distributed at equal intervals along the circumference and extend towards the direction of the circle center, and the first output shaft 2-1, the second output shaft 2-2 and the output end cover 2-3 are sequentially buckled and fixed together;
as shown in fig. 1, 3 and 6, the stiffness adjusting mechanism 3 comprises a control motor 3-1, a dial 3-2, a connecting rod group 3-3, a leaf spring group 3-4 and a sliding block group 3-5, the control motor 3-1 is mounted on the inner surface of the closed end of the first output shaft 2-1, the dial 3-2 is a disc and can be cut from an aluminum alloy material, and the stiffness adjusting mechanism has the advantage of realizing the synchronous movement of the connecting rod group; the output shaft of the control motor 3-1 is connected with a mounting hole in the center of the dial 3-2, the connecting rod group 3-3 comprises four connecting rods, a first connecting rod 3-3a, a second connecting rod 3-3b, a third connecting rod 3-3c, a fourth connecting rod 3-3d are uniformly distributed on the radial periphery of the dial 3-2 through hinges respectively, the connecting rod group 3-3 is connected with the sliding block group 3-5, the first sliding block 3-5a, the second sliding block 3-5b, the third sliding block 3-5c and the fourth sliding block 3-5d are connected with the first connecting rod 3-3a, the second connecting rod 3-3b, the third connecting rod 3-3c and the fourth connecting rod 3-3d respectively and are connected in a straight manner and are parallel to the cylindrical inner wall of the second output shaft 2-2, the leaf spring group 3-4 comprises four leaf springs, one end of each of the four leaf springs is radially arranged on the cylindrical inner wall of the second output shaft 2-2, the other end of each of the four leaf springs is arranged in a hyperboloid groove of the second input shaft 1-2, the leaf springs in the leaf spring groups 3-4 are sleeved in sliding block groove holes in sliding blocks in sliding block groups 3-5, the sliding blocks in the sliding block groups 3-5 are arranged in sliding grooves in the sliding groove groups 2-4 and are correspondingly matched and arranged with connecting rods in the connecting rod groups 3-3, and the connecting rod groups 3-3 and the leaf spring groups 3-4 can also be made of aluminum alloy materials;
as shown in fig. 1 and 2, the displacement detection system 4 includes a displacement sensor 4-1 and a signal converter 4-2, the displacement sensor 4-1 is installed on the second output shaft 2-2, the displacement sensor 4-1 is mainly used for detecting the displacement of the slider group 3-5, so as to realize real-time monitoring, and transmits information to the control system 5 through the signal converter 4-2, and meanwhile, the control system 5 is assisted to perform real-time stiffness control, and closed-loop control is realized through detection and feedback of the displacement sensor 4-1.
As shown in fig. 1, the control system 5 includes a motor driver 5-1, a stiffness controller 5-2 and a computer 5-3, the stiffness controller 5-2 is respectively connected to the motor driver 5-1, a signal converter 4-2 and the computer 5-3, and the signal converter 4-2 is connected to the displacement sensor 4-1. The motor driver 5-1 is used for driving and controlling the motor 3-1, the rigidity controller 5-2 is used for processing information from the displacement detection system 4 and the motor driver 5-1 and giving rigidity control instructions, and the computer 5-3 is used for visualizing input and output information and controlling.
Further, as shown in fig. 1, 2, 4 and 5, the flexible joint further includes a limiting protection mechanism, the limiting protection mechanism includes a first limiting pin 6-1, a second limiting pin 6-2, a first limiting groove 1-2a and a second limiting groove 1-2b, one end of the first limiting pin 6-1 and one end of the second limiting pin 6-2 are respectively fixed in a first limiting hole 2-2a and a second limiting hole 2-2a of the second output shaft 2-2, the other end of the first limiting pin 6-1 and the other end of the second limiting pin 6-2 are respectively installed on the second input shaft 1-2 and are located in the first limiting groove 1-2a and the second limiting groove 1-2b which are centrally symmetrically arranged, the limiting pins can slide in the corresponding limiting grooves, and the limiting pins and the limiting grooves are correspondingly arranged, the limiting protection of the variable-rigidity joint rotation can be realized.
Further, one end of the leaf spring is mounted on the cylindrical inner wall of the second output shaft 2-2 through a mounting seat.
Further, the control motor 3-1 is a servo motor or a stepping motor, and since the servo motor is superior to the stepping motor in many aspects of performance, it is preferable to use the servo motor.
Further, the displacement sensor 4-1 is a photoelectric sensor or a linear displacement sensor.
As shown in fig. 7, a method for controlling a leaf spring based variable stiffness flexible joint using the leaf spring based variable stiffness flexible joint as described above includes the following steps:
firstly, setting a joint stiffness value recorded as K through a computer (5-3)0；
Secondly, according to the current position L of the sliding block group (3-5) fed back by the displacement sensor (4-1)iBy the formula
Calculating the current actual stiffness value, and recording as Ki；
In the formula: number of N-leaf springs, modulus of elasticity of E-leaf spring, thickness of b-leaf spring, width of h-leaf spring, distance between L-joint axis and leaf spring force bearing point, psi-input shaft passive angle, L0Original length of leaf spring, Li-a current position of the slide;
thirdly, the rigidity controller (5-2) sets the joint rigidity value K according to the set value0Calculating the theoretical position L of the sliding block group (3-5)1；
Step four, the displacement sensor (4-1) detects the actual position L of the current sliding block group (3-5)iAnd detecting the actual position L of the slider group (3-5)iUploading to a rigidity controller (5-2) in real time;
step five, the rigidity controller (5-2) detects the actual position L of the sliding block group (3-5) according to the displacement sensor (4-1)iAnd the theoretical position L of the sliding block group (3-5)1Comparing and judging whether the two are consistent; if yes, entering a seventh step; if not, entering the step six;
step six, the rigidity controller drives the control motor (3-1) to operate through the motor driver (5-1) to drive the sliding block set (3-5) to move, and the step four is carried out;
and seventhly, finishing.
The working principle of the invention for realizing variable stiffness control is as follows: the first output shaft 2-1 is connected with a control motor 3-1, the first input shaft 1-1 is connected with a mechanical arm, the control motor 3-1 is driven to rotate in the forward direction by a motor driver 5-1, and then a dial plate 3-2 is driven to drive a sliding block group 3-5 to move in the forward direction, so that the effective length of a leaf spring group 3-4 is reduced, and the linear increase of the rigidity of the flexible joint is realized; when the control motor 3-1 rotates reversely, the drive dial 3-2 drives the sliding block group 3-5 to move reversely, the effective length of the leaf spring group 3-4 is increased, and the rigidity of the flexible joint is reduced linearly.
Claims (5)
1. A variable-rigidity flexible joint based on a leaf spring is characterized by comprising an input shaft (1), an output shaft (2), a rigidity adjusting mechanism (3), a displacement detection system (4), a control system (5) and a limiting protection mechanism (6);
the input shaft (1) comprises a first input shaft (1-1) and a second input shaft (1-2), the first input shaft (1-1) and the second input shaft (1-2) are concentrically connected, the second input shaft (1-2) is of a square plate-shaped structure, and hyperboloid grooves are formed in four corners of the second input shaft in a mirror image mode;
the output shaft (2) comprises a first output shaft (2-1), a second output shaft (2-2) and an output end cover (2-3), the first output shaft (2-1) and the second output shaft (2-2) are both of a cylindrical structure with one closed end, the closed end of the second output shaft (2-2) is provided with sliding groove groups (2-4) which are distributed at equal intervals along the circumference and extend towards the direction of the circle center, and the first output shaft (2-1), the second output shaft (2-2) and the output end cover (2-3) are sequentially buckled and fixed;
the rigidity adjusting mechanism (3) comprises a control motor (3-1), a dial (3-2), a connecting rod group (3-3), a leaf spring group (3-4) and a sliding block group (3-5), the control motor (3-1) is arranged on the inner surface of the closed end of the first output shaft (2-1), the adjusting disc (3-2) is a disc, an output shaft of the control motor (3-1) is connected with a mounting hole at the center of the adjusting disc (3-2), the connecting rod group (3-3) comprises four connecting rods which are uniformly distributed on the radial periphery of the adjusting disc (3-2) through hinges, the connecting rod group (3-3) is connected with the sliding block group (3-5), and the sliding block group (3-5) is parallel to the cylindrical inner wall of the second output shaft (2-2); the leaf spring group (3-4) comprises four leaf springs, one ends of the four leaf springs are radially distributed on the cylindrical inner wall of the second output shaft (2-2), and the other ends of the four leaf springs are arranged in a hyperboloid groove of the second input shaft (1-2); the leaf spring in the leaf spring group (3-4) is sleeved in a sliding block groove hole on a sliding block in the sliding block group (3-5), and the sliding block group (3-5) is arranged in a sliding groove group (2-4) of the second output shaft (2-2) and correspondingly matched with the connecting rod group (3-3);
the displacement detection system (4) comprises a displacement sensor (4-1) and a signal converter (4-2), and the displacement sensor (4-1) is mounted on the second output shaft (2-2);
the control system (5) comprises a motor driver (5-1), a rigidity controller (5-2) and a computer (5-3), the rigidity controller (5-2) is respectively connected with the motor driver (5-1), a signal converter (4-2) and the computer (5-3), and the signal converter (4-2) is connected with a displacement sensor (4-1);
the limiting protection mechanism (6) comprises a first limiting pin (6-1), a second limiting pin (6-2), a first limiting groove (1-2a) and a second limiting groove (1-2b), one end of the first limiting pin (6-1) and one end of the second limiting pin (6-2) are respectively fixed in a first limiting hole (2-2a) and a second limiting hole (2-2b) of the second output shaft (2-2), the other end of the first limiting pin (6-1) and the other end of the second limiting pin (6-2) are respectively installed on the second input shaft (1-2) and are located in the first limiting groove (1-2a) and the second limiting groove (1-2b) which are symmetrically arranged along the center, and the limiting pins can move in the corresponding limiting grooves.
2. A leaf spring based variable stiffness flexible joint according to claim 1, wherein one end of the leaf spring is mounted on the cylindrical inner wall of the second output shaft (2-2) by a mounting seat.
3. A leaf spring based variable stiffness flexible joint according to claim 2, wherein the control motor (3-1) is a servo motor or a stepper motor.
4. A leaf spring based variable stiffness flexible joint according to claim 2, wherein the displacement sensor (4-1) is a photo sensor or a linear displacement sensor.
5. A method for controlling a leaf spring based variable stiffness flexible joint, characterized in that the leaf spring based variable stiffness flexible joint of any one of claims 1 to 4 is used, comprising the steps of:
firstly, setting a joint stiffness value recorded as K through a computer (5-3)0；
Secondly, according to the current position L of the sliding block group (3-5) fed back by the displacement sensor (4-1)iBy the formula
Calculating the current actual stiffness value, and recording as Ki；
In the formula: number of N-leaf springs, modulus of elasticity of E-leaf spring, thickness of b-leaf spring, width of h-leaf spring, distance between L-joint axis and leaf spring force bearing point, psi-input shaft passive angle, L0Original length of leaf spring, Li-a current position of the slide;
thirdly, the rigidity controller (5-2) sets the joint rigidity value K according to the set value0Calculating the theoretical position L of the sliding block group (3-5)1；
Step four, the displacement sensor (4-1) detects the actual position L of the current sliding block group (3-5)iAnd detecting the slider group (3)-5) actual position LiUploading to a rigidity controller (5-2) in real time;
step five, the rigidity controller (5-2) detects the actual position L of the sliding block group (3-5) according to the displacement sensor (4-1)iAnd the theoretical position L of the sliding block group (3-5)1Comparing and judging whether the two are consistent; if yes, entering a seventh step; if not, entering the step six;
step six, the rigidity controller drives the control motor (3-1) to operate through the motor driver (5-1) to drive the sliding block set (3-5) to move, and the step four is carried out;
and seventhly, finishing.
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| CN201711239915.8A CN108000554B (en) | 2017-11-30 | 2017-11-30 | Leaf spring-based variable-rigidity flexible joint and control method thereof |
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| CN201711239915.8A CN108000554B (en) | 2017-11-30 | 2017-11-30 | Leaf spring-based variable-rigidity flexible joint and control method thereof |
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| CN108000554B true CN108000554B (en) | 2021-07-06 |
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| CN117921746A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Controllable time-varying rigidity flexible base |
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