基于旋量理论的变刚度柔顺机械臂建模方法研究

具有内在柔性的机器臂与人类进行协同作业时能够保障人、机、物的安全，是未来机械臂的发展方向，而变刚度驱动器则是研发柔顺机械臂的关键。本项目针对变刚度驱动器与柔顺机械臂的建模方法和变刚度特性等内容，展开深入的研究。探索采用旋量理论进行变刚度机构建模的方法，明确变刚度机构的实现方式，揭示变刚度解耦机构的工作原理。利用旋量理论建立柔顺机械臂模型，探索机器人系统级优化设计方法在柔顺机械臂设计中的适用性。深入研究柔性关节刚度的表征方式，建立关节与机器人末端刚度映射定量关系，阐明柔顺机械臂安全性与末端柔性的评价标准。通过搭建联合仿真平台和柔顺机械臂样机实验平台，验证模型的有效性和实用性。本项目对建模方法的研究为阐明柔性关节刚度特性和机械臂末端柔性性能奠定了理论基础。

The compliant robotic arm with intrinsic compliance can ensure the safety of human, robot, and operated object during its cooperation with human. It enlightens the developing trend of future robotic arms. Variable stiffness actuators are the key points for developing compliant robots. The project focuses on modeling method and variable stiffness characteristics of the variable stiffness actuator and compliant robotic arm. Exploring the utilization of Screw Theory in the modeling of variable stiffness mechanisms, in order to be explicit about implementation of the mechanism, and to reveal the operating principle of the decoupling mechanism for variable stiffness. Adopting Screw Theory in the modeling of a compliant robotic arm, to adapt the robotic systematic design optimization method to the design of compliant robotic arm. To intensively study the characterizing method of the compliant joint stiffness, for the sake of building the mapping relations between the stiffness of the joint and end of the robot, to reveal the evaluation criterion of safeness and end compliance of the compliant robotic arm. To validate the effectiveness and applicability of the modeling method, through experiments on a co-simulation platform and compliant robot prototype. The study on the modeling method in the project builds the theoretic basis for illustrating the joint stiffness characteristics and the arm end compliance property.