机器人柔性关节变刚度技术研究进展*

doi:10.16731/j.cnki.1671-3133.2025.07.018

现代制造工程 ›› 2025, Vol. 538 ›› Issue (7): 149-159.doi: 10.16731/j.cnki.1671-3133.2025.07.018

• 综述 • 上一篇

机器人柔性关节变刚度技术研究进展^*

王国平^1,2,3, 刘吉轩^1,2,4, 贾谦^1,2,3, 门静^1,2, 张欣昱^1,2, 张琛^1,2,3

1 西安交通大学城市学院机械工程学院,西安 710018;
2 机器人与智能制造陕西省高校工程研究中心,西安 710018;
3 舌肌康复智能机器人陕西省高校青年创新团队,西安 710018;
4 西安交通大学机械工程学院,西安 710049

收稿日期:2024-11-11 出版日期:2025-07-18 发布日期:2025-08-04
作者简介:王国平,博士,副教授,主要研究方向为机械结构振动及系统动力学、智能装备关键零/部件设计。E-mail:diaphragmcoupling@163.com
基金资助:
^*国家重大科研仪器研制项目(22127803);陕西省自然科学基础研究计划面上项目(2025JC-YBMS-435);陕西省教育厅科学研究计划重点项目(24JR100);舌肌康复智能机器人系统陕西高校青年创新团队科研专项项目(2024TD01)

Research progress on variable stiffness technology of robot flexible joints

WANG Guoping^1,2,3, LIU Jixuan^1,2,4, JIA Qian^1,2,3, MEN Jing^1,2, ZHANG Xinyu^1,2, ZHANG Chen^1,2,3

1 School of Mechanical Engineering,Xi’an Jiao Tong University City College,Xi’an 710018,China;
2 Engineering Research Center of Robot and Intelligent Manufacturing,Universities of Shaanxi Province, Xi’an 710018,China;
3 The Tongue Muscle Rehabilitation Intelligent Robot System Youth Innovation Team of Shaanxi Universities, Xi’an 710018,China;
4 School of Mechanical Engineering,Xi’an Jiao Tong University,Xi’an 710049,China

Received:2024-11-11 Online:2025-07-18 Published:2025-08-04

摘要/Abstract

摘要： 随着我国国防、医疗等重要领域智能装备发展规划的深入推进,机器人高精度、高灵活性、复杂运动能力及高人机共融能力成为现实急需,其关节的主、被动柔顺自适应能力成为研究的核心技术之一。针对这一问题,以关节的柔性实现形式为主线,从利用弹性体实现柔性、黏弹性体实现柔性、磁性材料实现柔性、驱动技术实现柔性及混合技术实现柔性等5个方面,系统梳理了国内外有关机器人柔性关节变刚度技术的研究现状,就当前各类型的柔性关节致柔技术原理、典型设计结构及其特点进行了综述,为机器人柔性关节技术的进一步创新提供参考和借鉴。

关键词: 机器人技术, 柔性关节, 变刚度

Abstract: With the deepening of the development plan of intelligent equipment in important fields such as national defense and medical care in China,the high precision,high flexibility,complex motion ability,and high human-machine integration ability of robots have become urgent needs in reality. The active and passive flexible adaptive ability of their joints has become the core technology of research. In response to this issue,taking the flexible implementation form of joints as the main line, systematically reviewed the research status of flexible joint variable stiffness technology for robots at home and abroad are from five aspects:using elastomers to achieve flexibility,viscoelastic materials to achieve flexibility,magnetic materials to achieve flexibility,driving technology to achieve flexibility,and hybrid technology to achieve flexibility.The principles,typical design structures,and characteristics of various types of flexible joint flexibility technology are summarized,providing reference and inspiration for further innovation of robot flexible joint technology.

Key words: robot technology, flexible joint, variable stiffness

中图分类号:

TP242

王国平, 刘吉轩, 贾谦, 门静, 张欣昱, 张琛. 机器人柔性关节变刚度技术研究进展^*[J]. 现代制造工程, 2025, 538(7): 149-159.

WANG Guoping, LIU Jixuan, JIA Qian, MEN Jing, ZHANG Xinyu, ZHANG Chen. Research progress on variable stiffness technology of robot flexible joints[J]. Modern Manufacturing Engineering, 2025, 538(7): 149-159.

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机器人柔性关节变刚度技术研究进展^*

Research progress on variable stiffness technology of robot flexible joints

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