摘要
为满足不同场景下的功能需求,变刚度结构得到越来越广泛的应用.以机器人手臂为例,在执行操作时,需要其手臂的结构刚度足够大,避免出现过大的扭曲和变形,而在与人交互时,又需要其结构足够柔软,以保证在此过程中与人交互的安全性.该类变刚度结构可根据需求通过外部激励在柔性和刚性状态之间自由切换.在该文章中,研究分析了层叠梁结构,通过理论推导和数值模拟,对其力学性能做出了很好的预测,同时为此类结构的研究提供了有效可靠的思路和方法.
In order to meet the functional requirements in different scenarios,structures with variable stiffness have been more and more widely used.Taking the robot arm as an example,when performing operations,the structural stiffness of the arm needs to be large enough to avoid excessive distortion and deformation,while when interacting with people,the structure needs to be soft enough to ensure the safety of people in this process.This kind of variable stiffness structure can switch freely between soft and rigid states through external excitation according to the demand.In this paper,the laminated beam structure is studied and analyzed,and its mechanical properties are well predicted through theoretical derivation and numerical simulation.At the same time,this paper provides an effective and reliable approach for the research of this kind of structure.
作者
郑鹏
胡振东
ZHENG Peng;HU Zhendong(School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092,China)
出处
《力学季刊》
CAS
CSCD
北大核心
2022年第3期629-639,共11页
Chinese Quarterly of Mechanics
关键词
变刚度
刚度可逆
层叠梁
真空化
variable stiffness
reversible stiffness
laminated beam
vacuumization
作者简介
郑鹏,硕士生研究方向:计算力学.E-mail:872800976@qq.com;通信作者:胡振东,教授,博士.研究方向:计算力学.E-mail:zdhu@tongji.edu.cn。
