中文摘要：

合作机器人（Cobot）是在同一作业空间与人直接物理合作的机器人。为了实现Cobot与人直接合作，Cobot的关节机构必须具有被动约束特性。建立了一种基于双超越离合器的不完全约束关节机构的模型和它的控制模型，对关节机构的被动约束特性和Cobot的轨迹跟踪特性进行了实验研究。实验结果表明，不完全约束关节机构具有被动特性，并能约束Cobot关节的运动状态，并能使Cobot在不同操作力作用下跟踪期望轨迹，不会因机器人失控伤害操作者，满足Cobot与人合作的要求。具有这种关节机构的Cobot可以应用在外科手术、物料搬运和零件的装配等需要人机合作的场合。

英文摘要：

Collaborative robots（cobots） are robots that have direct and physical collaboration with humans in a shared workspace. To implement cobots＇ direct collaboration with humans, their joint mechanisms have to possess passivity and constraint characteristics. The model for a non-holonomic constraint joint mechanism based on double over-running clutches and its control model were set up. The experimental study of the joint mechanism＇s passivity and constraint characteristics and cobots＇ trajectory-tracking characteristics were carried out. The experimental results indicate that the non-holonomic constraint joint mechanism can avail cobots of passivity and constrain their joints＇ motion. The cobots can track a desired trajectory under operational force of various types, and cause no injuny to their operators when they are out of control, thus meeting the requirements of human-machine collaboration. Cobots which have the above-mentioned joint mechanism can be applied to surgical operation, carriage of materials, parts assembly and other occasions that require human-machine collaboration.