Design and Simulation Analysis of Flexible Joint SEA of Manipulator

Zhang Zijian Du Yunpeng Han Shaojie Shang Kai Zuo Kungang Dong Yangyang

doi:10.16578/j.issn.1004.2539.2019.10.018

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Design and Simulation Analysis of Flexible Joint SEA of Manipulator

更新时间：2022-10-25

- Design and Simulation Analysis of Flexible Joint SEA of Manipulator
- Journal of Mechanical Transmission Issue 10, Pages: 92-96(2019)
- 作者机构：
  
  1.南京航空航天大学航天学院，江苏南京 210016
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.10.018
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张子建,杜云鹏,韩少杰等.机械臂柔性关节SEA设计与仿真分析[J].机械传动,XXXX,XX(XX):92-96.

Zhang Zijian Du Yunpeng Han Shaojie Shang Kai Zuo Kungang Dong Yangyang.Design and Simulation Analysis of Flexible Joint SEA of Manipulator[J].Journal of Mechanical Transmission,XXXX,XX(XX):92-96.
张子建,杜云鹏,韩少杰等.机械臂柔性关节SEA设计与仿真分析[J].机械传动,XXXX,XX(XX):92-96. DOI： 10.16578/j.issn.1004.2539.2019.10.018.

Zhang Zijian Du Yunpeng Han Shaojie Shang Kai Zuo Kungang Dong Yangyang.Design and Simulation Analysis of Flexible Joint SEA of Manipulator[J].Journal of Mechanical Transmission,XXXX,XX(XX):92-96. DOI： 10.16578/j.issn.1004.2539.2019.10.018.

摘要

串联弹性驱动器（Series Elastic Actuator，SEA）可以有效提高关节的柔顺特性，但是也存在受力与形变强非线性的不足。为了提高SEA的线性特性，建立了双圆环间衔接曲梁模型，利用轴截面原点正应力公式求取梁模型不同点的应力公式，设计并验证了符合柔性关节的SEA；其次，对SEA的模型进行仿真分析，取7个点对其进行模型和实际的应力比较；最后，利用ANSYS对其进行强度仿真分析，分析各关节受力和变形，有效保证了SEA的线性特性，从而有效提高了柔性关节的力学特性。

Abstract

Series Elastic Actuator （SEA） can effectively improve the flexibility of the joint. However, SEA has the disadvantage of strong nonlinearity of force and deformation. In order to improve the linearity of SEA, a curved beam model with double-ring connection is established, and the stress formulas of different points of the beam model are got by using the normal stress formula of the origin of the axis section, so as to design and verify the series elastic actuator which conforms to the flexible joint. Secondly, the model of the series elastic actuator is simulated and analyzed, and seven points are selected to compare the model with the actual stress. Finally, ANSYS is used to simulate and analyze the strength and deformation of each joint，which effectively guarantees the linear characteristics of SEA and improves the mechanical properties of flexible joint.

关键词

机械臂柔性关节串联弹性驱动器弹性曲梁

Keywords

ManipulatorFlexible jointSeries elastic actuatorElastic curved beam

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