Wenjie Ju , Jingfu Zhao , Wenjie Zhang , Shiyu Li , Rongjie Kang , Jian S. Dai , Zhibin Song
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引用次数: 0
摘要
具有增大非线性刚度的串联弹性致动器(NlSEA)在人机交互中具有广阔的应用前景,因为它是一种非线性弹性机构,具有固有的安全性,并能在低负载下实现高扭矩分辨率,在高负载下实现快速动态响应。本研究提出了一种可应用于 NlSEA 的新型非线性弹性机构设计方法。通过结合 S 形悬臂梁和专用凸轮表面,本研究提出了一种分析方法来设计满足给定刚化扭矩-变形关系的非线性弹性机构。讨论了几何参数约束,以支持参数确定。通过仿真验证了所提设计方法的有效性和普适性。此外,还设计了一种刚度特性递增的非线性弹性机构,并制作了原型。为了验证原型的精度、响应性能和跟踪性能,还进行了扭矩变形验证实验、调节响应实验和正弦跟踪实验。所设计的非线性弹性机构结构紧凑、重量轻、扭矩质量比大。
A novel design method of a nonlinear elastic mechanism for series elastic actuators
Series elastic actuators with increasing nonlinear stiffness(NlSEA) have promising applications in human-machine interactions for the existence of a nonlinear elastic mechanism that supplies inherent safety and can implement high torque resolution under low load and quick dynamic response under high load. In this study, a novel design method for a nonlinear elastic mechanism that can be applied in NlSEA is proposed. By combining the S-shaped cantilever beam and specialized cam surface, this study proposed an analytical approach to design a nonlinear elastic mechanism satisfying a given stiffening torque-deformation relationship. The geometric parameters constraints were discussed to support parameter determination. Two kinds of cases of nonlinear elastic mechanisms with increasing and constant stiffness characteristics were conducted to verify the effectiveness and generalizability of the proposed design method by simulations. Moreover, a nonlinear elastic mechanism with an increasing stiffness characteristic was designed and a prototype was fabricated. A torque-deformation verification experiment, regulation response experiments, and sinusoidal tracking experiments were conducted to verify the accuracy, response performance, and tracking performance of the prototype. The designed nonlinear elastic mechanism has a large torque-to-mass ratio in a compact and lightweight structure.
期刊介绍:
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry