The invention discloses a variable-stiffness driver based on a magnetorheological elastomer. The variable-stiffness driver comprises an input connecting rod frame, a lever arm, an output connecting rod and a variable-stiffness mechanism, the input connecting rod frame forms a driver outer frame, provides space and positions for installation of other parts, and is provided with a driving motor. One end of the lever arm is fixedly connected with the driving motor and serves as a bridge for changing the balance position and arranging the variable stiffness mechanism; one end of the output connecting rod is mounted on the input connecting rod frame in a position coaxial with the driving motor through a rotating pair; the variable stiffness mechanism is composed of a spring-like mechanism and a push rod motor, the stiffness of the magnetorheological elastomer is influenced by changing an external magnetic field, and the change of the joint stiffness is realized by pre-tightening the spring-like mechanism through the push rod motor. Compared with a traditional variable-rigidity driver achieved through a pre-tightening spring, the variable-rigidity driver is larger in rigidity change range, more in change mode and higher in change speed, and application of the variable-rigidity driver in scenes such as biped robots is facilitated.
本发明公开了一种基于磁流变弹性体的变刚度驱动器,包括输入连杆架、杠杆臂、输出连杆和变刚度机构;输入连杆架组成驱动器外框,为其他部分的安装提供空间与位置,并装有驱动电机;杠杆臂的一端与驱动电机固连,作为改变平衡位置与布置变刚度机构的桥梁;输出连杆一端通过旋转副安装在输入连杆架上与驱动电机同轴的位置;变刚度机构由类弹簧机构和推杆电机组成,通过改变外加磁场影响磁流变弹性体的刚度、通过推杆电机预紧类弹簧机构实现关节刚度的变化。本发明相较于传统预紧弹簧实现变刚度的驱动器,刚度变化范围更大,变化方式更多,变化速度更快,有助于变刚度驱动器在双足机器人等场景中的应用。
Variable stiffness driver based on magnetorheological elastomer
一种基于磁流变弹性体的变刚度驱动器
2024-01-05
Patent
Electronic Resource
Chinese
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