An Overview of Flexible Jointed Robots

Abstract

Background: Since the first industrial robots were created in the middle of the last century, robotics has shown strong growth prospects. Robotics has developed rapidly over time and is being used in more and more areas. Because of the need to minimize impact forces during robot movement, traditional rigid robots are no longer sufficient, flexible joints are more adaptable to the environment due to their adjustable stiffness and have higher application value in humancomputer interaction. Therefore, flexible jointed robots have become one of the research hotspots in recent years. Objective: Through a detailed analysis of the existing hardware and software control technologies of flexible joint robots, referring to papers and recent patents on flexible jointed robots, we aim to find ways to reduce the impact of flexible joint deformation of flexible joint robots and improve the overall force and position control accuracy of flexible joint robots. Methods: To categorize the hardware and software technologies of flexible jointed robots, to briefly explain the directions of the technologies categorized and to study them, to summarize the advantages and disadvantages of each type of technology respectively, and to outlook the future development trend. Results: Through the study and analysis of the various parts of the flexible joint robot, it can be seen that joint flexibility is mainly achieved through the drive motor and flexible components to achieve flexibility and then through the fusion control technology to control the deformation of the joint. Differences in structural materials affect the mechanical properties of robot motion. The detection and feedback accuracy of the sensor also has a significant impact on the control accuracy. Conclusion: The use of new motor technology, flexible component technology, material technology, and sensor technology, combined with improvements in software fusion control technology can reduce the impact of joint deformation, improve the control accuracy of joint flexibility, and achieve high-precision force-level control capability of flexible joint robots.