摘要
为提高柔性机器人承载能力,结合微颗粒嵌入和阻塞原理的优势,提出了一种正压驱动的变刚度弹性轴,分析其变刚度机理,设计并制造了变刚度弹性轴样机,搭建了变刚度弹性轴实验平台通过实验分析不同因素对弹性轴刚度影响。实验结果表明:弹性轴自由状态,弹性轴充入压力越大,其刚度越大;弹性轴充入压力一定时,随着位移的增加,刚度的增量逐渐减少;金属螺旋管内侧间隙越大弹性轴刚度越强;填充颗粒种类对弹性轴刚度有影响;颗粒大小对弹性轴刚度有影响,且颗粒越小弹性轴刚度越大。当弹性轴完全伸长填充物为直径1.2 mm白刚玉时,变刚度效果最好可提高56.1倍。可为变刚度柔性机器人设计提供新的技术支持。
In order to improve the bearing capacity of flexible robots,a positive pressure driven variable stiffness elastic shaft was proposed by combining the advantages of micro-particle embedding and blocking mechanism.The variable stiffness elastic shaft mechanism was analyzed,the variable stiffness elastic shaft prototype was designed and manufactured,and the variable stiffness elastic shaft experiment platform was built to analyze the influence of different factors on the elastic shaft stiffness.The experimental results show that when the elastic shaft is free,the higher the filling pressure of the elastic shaft is,the higher the stiffness will be.When the filling pressure of the elastic shaft is constant,the increment of stiffness decreases with the increase of displacement.The larger the inner clearance of the metal spiral tube,the stronger the elastic shaft stiffness.The type of filling particles has an effect on the stiffness of elastic axis.The particle size has an effect on the stiffness of the elastic axis,and the smaller the particle size,the greater the stiffness of the elastic axis.When the elastic shaft is fully extended and the filling material is white corundum with a diameter of 1.2 mm,the variable stiffness can be improved by 56.1 times.The research can provide new technical support for the design of flexible robot with variable stiffness.
作者
许文智
耿德旭
王霞
彭贺
XU Wen-zhi;GENG De-xu;WANG Xia;PENG He(School of Mechanical Engineering,Beihua University,Jilin,Jilin 132000)
出处
《液压与气动》
北大核心
2023年第5期51-58,共8页
Chinese Hydraulics & Pneumatics
基金
吉林省发改委产业自主创新能力(2020C021-4)
吉林省教育厅科学技术研究项目(JJKH20210034KJ)
北华大学研究生创新计划项目(2021007)。
关键词
弹性轴
变刚度
颗粒嵌入
颗粒阻塞
elastic axis
variable stiffness
particle embedding
block of particles
作者简介
许文智(1997-),男,河北保定人,硕士研究生,主要从事仿生关节及其应用研究。
