WO2020052724A1 - Mécanisme d'articulation rotoïde souple reconfigurable à rigidité non linéaire - Google Patents

Mécanisme d'articulation rotoïde souple reconfigurable à rigidité non linéaire Download PDF

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Publication number
WO2020052724A1
WO2020052724A1 PCT/DK2019/050268 DK2019050268W WO2020052724A1 WO 2020052724 A1 WO2020052724 A1 WO 2020052724A1 DK 2019050268 W DK2019050268 W DK 2019050268W WO 2020052724 A1 WO2020052724 A1 WO 2020052724A1
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WO
WIPO (PCT)
Prior art keywords
input
output
protruding elements
joint mechanism
primary
Prior art date
Application number
PCT/DK2019/050268
Other languages
English (en)
Inventor
Shaoping BAI
Zhongyi Li
Original Assignee
Aalborg Universitet
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aalborg Universitet filed Critical Aalborg Universitet
Publication of WO2020052724A1 publication Critical patent/WO2020052724A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J17/0208—Compliance devices
    • B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/52—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising a continuous strip, spring, or the like engaging the coupling parts at a number of places
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/60—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising pushing or pulling links attached to both parts
    • F16D3/62—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising pushing or pulling links attached to both parts the links or their attachments being elastic

Definitions

  • the present invention relates to compliant joint mechanisms.
  • an improved compliance joint would be advantageous, and in particular a more efficient and/or reliable joint would be advantageous.
  • the primary input shaft element comprises or is coupled to a plurality of input protruding elements arranged in a first predetermined pattern on/in the primary input shaft element, an output shaft directly or indirectly connected to a primary output shaft element in a fixed relation, wherein the primary output shaft element comprises or is coupled to a plurality of output protruding elements arranged in a second predetermined pattern on/in the primary output shaft element,
  • an elastic element wrapped partly around at least one of the input protruding elements and at least two of the output protruding elements in a compliance pattern indirectly coupling the input shaft to the output shaft, such that rotation of the input shaft causes rotation of the output shaft and such that the input shaft can move relative to the output shaft due to the elastic properties of the elastic element.
  • the core of the present invention is the design and construct of a novel compliant revolute joint mechanism with reconfigurability.
  • the invention proposes a compliant revolute joint mechanism with reconfigurability which allows for adjustable stiffness and variable stiffness performance based on different configurations.
  • the design is compact and lightweight, and can be easily integrated into a system where compliance is needed.
  • the invention has many potential applications. For example, a direction
  • compliant joint mechanism is to design new joints of robots which have close physical interaction with human (e.g. motion assistance exoskeletons, collaborative robots and rehabilitation robots), where variable compliance can be obtained for safety and comfort.
  • Another application is a new coupling device, which is a very common device in motion transmissions.
  • the invention can also be integrated into electric motors, to build compliant motors.
  • the invention could be used in a plurality of servo motors and drive, such as in a sewing machine.
  • the invention could also be developed as a force sensing device.
  • rotation of the input shaft causes a substantially identical rotation of the output shaft.
  • the primary input shaft element moves relative to the primary output shaft element and the elastic element is stretched and/or relaxed. This is how compliance is brought into the compliant joint mechanism of the present invention.
  • the length of the elastic element may be determined such that when no external force is applied to either of the shaft elements, the stretching of the elastic element is in a predetermined equilibrium, but when the primary input shaft element is rotated relative to the primary output shaft element, the elastic element is stretched (or relaxed).
  • the input shaft is configured to be connected to a first external element, such as a motor, and the output shaft element is configured to be connected to a second external element.
  • the joint mechanism further comprise one or more bearings and/or one or more connecting elements and/or one or more housing elements, and/or one or more ring elemets. Such elements may be present to stabilize, optimize or protect the compliant joint mechanism.
  • the input shaft, the output shaft, the one or more input shaft elements, the one or more output shaft elements, the input protruding elements and the output protruding elements are arranged in a way such that the input shaft and output shaft are configured to rotate around a same axis or parallel axes.
  • the input shaft and the output shaft have a circular cross- section.
  • the elastic element is a closed elastic band or string with a pre-determined length and stiffness such as a rubber spring, elastic nylon cable, or thin metal strips.
  • the stiffness of the compliant joint mechanism can be increased by increasing the number of input protruding elements and/or output protruding elements around which the elastic element is wrapped and/or by exchanging the elastic element with another elastic element having a higher stiffness. In the same way, the stiffness of the compliant joint mechanism can be decreased by decreasing the number of input protruding elements and/or output protruding elements around which the elastic element is wrapped and/or by exchanging the elastic element with another elastic element having a lower stiffness.
  • the elastic element for each input protruding element the elastic element is wrapped around, the elastic element is wrapped around at least two output protruding elements in a way such that the elastic element extend from a first output protruding element, wrap partly around an input protruding element, and extend to a second output protruding element, wherein the elastic element extend parallely between the input protruding element and the first and second output protruding elements.
  • the input protruding elements are arranged such that they are evenly spaced and have the same distance to a center point of the primary input shaft element and the output protruding elements are arranged such that they have the same distance to a center point of the primary output shaft element, wherein the distance from the output protruding elements to the center point of the primary output shaft element is larger than the distance from the input protruding elements to the center point on the primary input shaft element.
  • the number of output protruding elements is twice that of input protruding elements. However, further protruding elements may be present. Thus, even though an optimal number of input protruding elements relative to output protruding elements may be 1:2, more input protruding element or output protruding element may be present on/in the primary input shaft element or primary output shaft element.
  • the input protruding elements and/or the output protruding elements are arranged in a circle on the primary input shaft element and the primary output shaft element, respectively, in a way such that the center point is located on the axis or axes around which the input shaft and/or output shaft are configured to rotate.
  • the protruding elements have a circular cross-section, allowing the elastic element to move and stretch one of the protruding elements.
  • the protruding elements are pins.
  • the primary input shaft element and/or the primary output shaft element are plates, preferably circular plates.
  • the primary input shaft element and/or the primary output shaft elements may also have other forms, such as square triangular, hexagonal or the like. Furthermore, they may be plates with a hollow center.
  • the primary input shaft element has a smaller surface area and/or diameter than the primary output shaft element.
  • the compliant joint mechanism is configured such that the center of the primary input shaft element and the center of the primary output shaft element are arranged on the same axis, which axis is parallel to and/or the same as the axis around which the input shaft and the output shaft can rotate.
  • the present invention relates to an exoskeleton comprising one or more compliant joint mechanisms according to the present invention.
  • the present invention relates to a transmission device with coupling between input and output comprising a compliant joint mechanism according to the present invention.
  • the present invention relates to a sensing device, such as a force sensing device, comprising a compliant joint mechanism according to the present invention.
  • a sensing device such as a force sensing device, comprising a compliant joint mechanism according to the present invention.
  • Such a device is very sensitive at small torque (or force), thus optimize its performance of sensitivity over its range of measurement.
  • Input and output are. used to indicate e.g. input and output in the sense that input and output resembles where e.g. a rotational force is applied as input and rotational force is picked-up as output. As will be apparent from the description herein, input and output may be reversed as per desire.
  • Elastic properties refers to the fact that the elastic element can streatch and relax from a predetermined equilibrium.
  • the elastic element is in the
  • predetermined equilibrium when it is wrapped tightly around the input and output protruding elements to couple the input shaft and the output shaft.
  • the elastic element is not completely relaxed in this equilibrium but will be streatched to a predetermined extend.
  • streaching of the elastic element is increased to a new predetermined equilibrium, thereby increasing the stiffness of the coupling between the input shaft and the output shaft.
  • the elastic element can streatch, the input shaft is able to move relative to the output shaft under some circumstances, making the joint mechanism compliant.
  • the different embodiments of the present invention may each be combined with any of the other embodiments.
  • Figure 1 is a schematic illustration of a simple embodiment of the present invention
  • FIG. 2 is a schematic illustration of another simple embodiment of the present invention.
  • Figure 3 Concept description of reconfigurable compliant joint mechanism : (a) three-dimensional model, (b) exploded view of the three-dimensional model and (c) detailed view of the compliant mechanism,
  • Figure 5 Working principle of the realization of nonlinear stiffness in one branch of the compliant mechanism; (a) basic schematic and (b) the design model in the invention,
  • Figure 8 An implementation case of the invention which is integrated into an elbow exoskeleton.
  • Fig. 1 illustrating a three-dimensional view of a compliant joint mechanism 1 according to a simple embodiment of the present invention.
  • Fig. 1(a) shows the mechanism unassembled
  • Fig. 1(b) shows the mechanism assembled
  • the compliant joint mechanism 1 shown in fig. 1 comprise an input shaft 2 and an output shaft 5.
  • the input shaft 2 is configured to be connected to a first external element, such as a motor, and the output shaft 5 is configured to be connected to a second external element.
  • the input shaft 2 is in the embodiment shown in Fig. 1 directly connected to a primary input shaft element 3 in a fixed relation.
  • the output shaft 5 is directly connected to a primary output shaft element 6 in a fixed relation.
  • the primary input shaft element 3 and the primary output shaft element 6 are circular plates. However, the invention would also work with other shapes.
  • the primary input shaft element 3 illustrated in Fig. 1, comprise six input protruding elements 4 arranged in a first predetermined pattern, in this case in a circular pattern, on the primary input shaft element 3.
  • the input protruding elements 4 are shown with dotted lines, as they are arranged on the surface facing away from the input shaft 2.
  • the primary output shaft element 6 comprise twelve output protruding elements 7 arranged in a second predetermined pattern, in this case also a circular pattern on the primary output shaft element 6.
  • the protruding elements 4, 7 are arranged such that the center point is located on the axis 13 around which the input shaft 2 and/or output shaft 5 are configured to rotate.
  • the input and output protruding elements 4, 7 are arranged such that they are evenly spaced and have the same distance to a center point of the primary input shaft element 3 and the output shaft element 6, respectively.
  • the distance from the output protruding elements 7 to the center point of the primary output shaft element 6 is larger than the distance from the input protruding elements 4 to the center point on the primary input shaft element 3.
  • the input protruding elements and the output protruding elements are pins extending from the primary input shaft element subatantially parallel to the input shaft and output shaft.
  • the pins have a circular cross-section and a flat end section. However, in other embodiments, the pins may have other shapes.
  • the input protruding elements 4 and output protruding elements 7 may not protrude from the primary input shaft element 3 and primary output shaft element 6, respectively, as in Fig. 1, but may be attached on/in it or coupled to them in a plurality of other ways.
  • the compliant joint mechanism 1 of the present invention further comprise an elastic element 8.
  • the elastic element 8 should wrap partly around at least one of the input protruding elements 4 and at least two of the output protruding elements 7 in a compliance pattern indirectly coupling the input shaft 2 to the output shaft 5. As a result of the elastic coupling, the rotation of the input shaft will cause the output shaft to rotate too.
  • the compliance of the compliant joint mechanism is a result of the elastic properties of the elastic element 8, coupling the rotation of the input shaft 2 and output shaft 5.
  • the elastic element 8 may streatch when the primary input shaft element 3 begin to rotate.
  • the primary input shaft elemenet 3 may rotate a short distance relative to the primary output shaft element 6 before the primary output shaft element 6 rotates too and causes the output shaft 5 to rotate with a delay compared to the input shaft 2.
  • the input shaft 2 and output shaft 5 are configured to rotate around the same axis 13. However, in other embodiments, they may rotate around different but parallel axes 13a, 13b.
  • the elastic element 8 is not very visible in Fig. 1. Reference is made to Fig. 2, 3 and 4 for an illustration of different compliance patterns. Further compliance patterns not illustrated herein would also work.
  • Fig. 2 showing another simple embodiment of the present invention.
  • the embodiment is similar to that described in relation to Fig. 1, except that in the embodiment illustrated in Fig. 2, the primary input shaft element 3 have a smaller area and/or diameter than the primary output shaft element 6 and the input protruding elements 4 are arranged on the opposite surface of the primary input shaft element 3. Hence, the compliance pattern of the elastic element 8 is visible in Fig. 2b.
  • the elastic element 8 is preferably a closed elastic band or string with a pre- determined length and stiffness such as a rubber spring, elastic nylon cable, or thin metal strips.
  • the elastic element is shown as a string.
  • the stiffness of the compliant joint mechanism can be increased by increasing the number of protruding elements around which the elastic element is wrapped and/or by exchanging the elastic element with another elastic element having a higher stiffness.
  • the compliant joint mechanism is adjustable and can be used for many different applications.
  • the elastic element 8 for each input protruding element 4 the elastic element 8 is wrapped around, the elastic element is wrapped around two output protruding elements 7 in a way such that the elastic element 8 extend from a first output protruding element 7a, wrap partly around an input protruding element 4, and extend to a second output protruding element 7b.
  • the number of output protruding elements are twice that of input protruding elements.
  • this pattern introduces compliance into the system.
  • other patterns of protruding elements and wrapping of the elastic element can also provide compliance into the mechanism.
  • a primary input shaft element comprising six input protruding elements arranged in a circular pattern on the primary input protruding element.
  • the elastic element 8 couple the input protruding elements 4 and the output protruding elements 7 in a compliance pattern, where for each input protruding element 4 the elastic element 8 is wrapped around, the elastic element is wrapped around two output protruding elements 7 in a way such that the elastic element 8 extend from a first output protruding element 7a, wrap partly around an input protruding element 4, and extend to a second output protruding element 7b.
  • the elastic element 8 extend parallely between the input protruding element 4 and the first and second output protruding elements 7a, 7b as illustrated in Fig. 3c. Due to the elastic coupling of the input protruding elements 4 and the output protruding elements 7, the input protruding elements 4, the primary input shaft element 3 and the input shaft 2 can move/rotate relative to the output protruding elements 7, the primary output shaft element 6 and the output shaft 5, by stretching of the elastic element 8 (or relaxation). An example of movement/rotation of the input protruding elements 4 relative to the output protruding elements 7 can further be viewed in Fig. 5, showing two different configurations. In a first configuration, the elastic element is relaxed (or as relaxed as it can be in the elastic pattern). In a second
  • FIG. 4 shows a preferred embodiment of the present invention.
  • the compliant joint mechanism 1 illustrated in Fig. 3b comprise an input shaft directly connected, in one end, to a primary input shaft element 3 in a fixed relation.
  • the primary input shaft element 3 comprise input protruding elements 4 arranged in a first predetermined pattern on the primary input shaft element 3.
  • the output shaft 5 is indirectly connected to a primary output shaft element 6 in a fixed relation and is configured to be coupled to output protruding elements 7 by reciveing them in holes arranged around its circumference.
  • the primary output shaft element 6 is circular but have a hollow center area and comprise holes around its circumference configured for receiving output protruding elements 7.
  • the primary output shaft element 6 is further configured to be coupled to a connecting element 10a in the form of a housing with a hole in its end wall (not visible), which is again configured to be connected to a connecting element 10b in the form of a plate, directly coupled to the output shaft.
  • the connecting element 10b is configured to be inserted into the hole of connecting element 10a and fastened to it. In that way, the primary output element is indirectly connected to the output shaft 5, through connecting elements 10a, 10b, in a fixed relation. Thus, if the primary output shaft element is rotated, the output shaft rotate too.
  • the output protruding elements 7 are not attached to the primary output shaft element in fig. 3b, but are configured to be fit into the holes around the circumference of the primary output shaft element. In that way the input shaft and the output shaft is coupled through the elastic element 8 wrapped around the input and output protruding elements 4,7.
  • FIG. 3 he new compliant revolute joint mechanism is shown in Figure 3, wherein Figure 3(a) shows the mechanism assembled.
  • Figure 3(b) presents an exploded view of the mechanism, and
  • Figure 3(c) shows detailed view of compliant mechanism.
  • the compliant revolute joint mechanism in Figure 3 consists of two coaxial shafts (shaft A and shaft B denoting the input and the output of mechanism) which rotate around axis A and axis B, respectively.
  • the two shafts are coupled through elastic element (e.g. rubber spring, elastic nylon cable, or thin metal strips ), which introduces compliance between the input and the output of the joint.
  • the housing parts are designed to support the compliant mechanism and transmission components.
  • the shafts A and B, and pins A and B together with the elastic element form a reconfigurable compliant mechanism.
  • Two ending plates are designed on the shaft A and shaft B separately.
  • a number of pins are evenly mounted on the two end-plates.
  • the elastic element wraps around the pins to couple the rotation from the shaft A to the shaft B.
  • the stiffness of coupling is determined by the elastic element, the number of pins and also the pattern of wrapping, as demonstrated in Figure 4.
  • the mechanism can be reconfigured to change its stiffness performance.
  • the joint mechanisms is featured with nonlinear stiffness. This is achieved by utilizing a four-bar linkage of zero base link, as illustrated in Figure 5. Refer to Figure 5b, the length of the elastic element in the configuration is:
  • the tension force F is associated to the stiffness of elastic element k and the pretension of elastic element F 0 , which is rewritten as
  • each pair of pins in the input-output shafts stand for a four-bar linkage. Assume that N four-bar linkages are used in the mechanism, the total stiffness of joint becomes
  • F 0 is the pretension force of the elastic element. It is associated to the free length of the elastic element l r , elastic element stiffness k and the mechanism configuration, which is given by
  • FIG. 3 An example is included to illustrate the variable stiffness performance of the invention shown in Fig. 3.
  • the elastic element is always stretched, and the tension force F increases with the increasing of Q.
  • the stiffness performance of the invention with respect to configuration N and shaft rotation Q is shown in Fig. 7. Stiffness varying in two modes, namely hardening and softening modes can be observed.
  • the invention can also change its design with different elastic element of different free length and stiffness to achieve varying stiffness performance.
  • Fig. 4(a) a design with 12 pins on shaft B and 6 pins on shaft A is demonstrated.
  • Fig. 4(b) shows another design with 3 pins on shaft A, and three configuration can be implemented.
  • the invention has many potential applications:
  • a direction application of the compliant joint mechanism is to design new joints of robots which have close physical interaction with human (e.g. motion assistance exoskeletons and rehabilitation robots), where variable compliance can be obtained for safety and comfort.
  • human e.g. motion assistance exoskeletons and rehabilitation robots
  • Another application is a new coupling device, which is a very common device in motion transmissions.
  • the invention can also be integrated into electric motors to build compliant motors.
  • the invention can be developed as a force sensing device.
  • FIG. 8 An implementation case of the invention which is integrated into an elbow exoskeleton is illustrated in Fig. 8.
  • the elbow joint is driven by a DC motor with worm gear.
  • the invention is mounted on the interposition between the worm gear and the fore-arm link of elbow exoskeleton. Consequently, the invention allows an improvement of the physical human-robot interaction of the elbow exoskeleton due to the compliant and back-drivable property of the new mechanism.
  • 0/rad should be understood as 0[rad] and KeQ / l/N ⁇ mm/rad should be understood as K eq,l [N*mm/rad].
  • Reconfigurable compliant revolute joint mechanism comprising input shaft parts and output shaft parts coupled through elastic element (e.g. rubber spring, elastic nylon cable, or thin metal strips).
  • elastic element e.g. rubber spring, elastic nylon cable, or thin metal strips.
  • Reconfigurable compliant revolute joint mechanism according to item l, wherein - the input shaft parts comprise an input shaft which transfers the outside torque or rotation to the mechanism and an end-plate designed on the input shaft and a plurality of pins circumferentially mounted on said end- plate,
  • the output shaft parts comprise an output shaft which transfers the torque or rotation inside the mechanism to the external and an end-plate designed on the output shaft and two times number of pins of input shaft parts circumferentially mounted on said end-plate,
  • the elastic element wraps around the pins of the input shaft parts and the output shaft parts to eventually couple the rotation or torque from the input shaft to the output shaft.
  • Reconfigurable compliant revolute joint mechanism according to item 1 and 2, wherein reconfigurability is achieved through adjusting the number of pins, such as selecting 6 pins on the input shaft and 12 pins on the output shaft, such as 3 pins on the input shaft and 6 pins on the input shaft.
  • Reconfigurable compliant revolute joint mechanism according to item 1, 2 and 4, wherein said pattern of wrapping of elastic element is determined by the number of coupled pins between input shaft parts and output shaft parts through the elastic element.
  • Exoskeleton built with compliant joint(s) comprising a reconfigurable compliant revolute joint mechanism according to any of the preceding claims.
  • Transmission devices with coupling between input and output comprising a compliant joint mechanism according to any of itemsl to 5.
  • Compliant joint mechanism according to any of itemsl to 5, is used as new force sensing devices, which is very sensitive at small torque (or force), thus optimize its performance of sensitivity over its range of measurement.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne une nouvelle conception d'un mécanisme d'articulation rotoïde souple, offrant multiples configurations présentant des performances de rigidité variable. Le mécanisme d'articulation assure une souplesse entre ses arbres d'entrée et de sortie. Les performances de rigidité variable, par exemple un ressort souple, un ressort dur, en plus d'un ressort linéaire, peuvent être obtenues par modification de la configuration de mécanisme qui est basée sur le motif d'enveloppement de matériau élastique, en remplaçant le matériau élastique de rigidité différente, ou en réglant leur force de retenue. L'invention est conçue pour présenter une structure compacte. La nouvelle articulation peut être intégrée dans des moteurs électriques pour construire des actionneurs souples dans des exosquelette d'assistance, des robots de rééducation et d'autres robots où une interaction homme-robot sûre est concernée. L'innovation peut également s'appliquer sous forme d'un nouveau dispositif d'accouplement, qui est couramment utilisé dans des transmissions de mouvement.
PCT/DK2019/050268 2018-09-11 2019-09-11 Mécanisme d'articulation rotoïde souple reconfigurable à rigidité non linéaire WO2020052724A1 (fr)

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US11190160B2 (en) 2018-11-16 2021-11-30 Anhui Anuki Technologies Co., Ltd. Frequency multiplexer
CN114131647A (zh) * 2021-12-06 2022-03-04 之江实验室 一种基于凸轮的杠杆式可变刚度柔性关节

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Publication number Priority date Publication date Assignee Title
US4182139A (en) * 1976-05-18 1980-01-08 Daimler-Benz Aktiengesellschaft Elastic shaft coupling
US4377386A (en) * 1980-08-22 1983-03-22 Lord Corporation Link coupling
SU1622673A1 (ru) * 1988-03-17 1991-01-23 Производственное Объединение "Ворошиловградский Тепловозостроительный Завод Им.Октябрьской Революции" Упругокомпенсационна муфта
CN101398036A (zh) * 2007-09-29 2009-04-01 上海驰风机电科技有限公司 联接装置
CN105643659A (zh) * 2016-03-21 2016-06-08 上海卓道医疗科技有限公司 一种柔性旋转机械关节
US20180092792A1 (en) * 2016-10-03 2018-04-05 Jtekt Corporation Assistance apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11190160B2 (en) 2018-11-16 2021-11-30 Anhui Anuki Technologies Co., Ltd. Frequency multiplexer
CN114131647A (zh) * 2021-12-06 2022-03-04 之江实验室 一种基于凸轮的杠杆式可变刚度柔性关节

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