摘要
【目的】针对传统关节人机交互性差、刚度调节范围有限的问题,设计一种基于复合轮系的新型变刚度关节,通过改变轮系转动方式实现“调刚”与“恒刚度输出”,提升关节环境适应性。【方法】首先,详细分析关节变刚度原理、构型及主体结构,计算其调刚范围;其次,开展运动学分析,探究复合轮系运动规律及刚度调整的数学关系;最后,制作样机,搭建试验平台进行刚度测量试验。【结果】结果表明,该关节可实现的调刚范围为0~1.345×10^(6)N·mm/rad,试验曲线与理论曲线相似度为0.92,验证说明所设计关节具备良好的变刚度特性。
[Objective]Aiming at the problems of poor human-machine interaction and limited stiffness adjustment range of traditional joints,a new type of variable stiffness joint based on composite gear train was designed.By changing the rotation mode of the gear train,“stiffness adjustment”and“constant stiffness output”were realized to improve the environmental adaptability of the joint.[Methods]Firstly,the variable stiffness principle,configuration and main structure of the joint were analyzed in detail,and its stiffness adjustment range was calculated.Secondly,kinematics analysis was carried out to explore the motion law of the composite gear train and the mathematical relation of stiffness adjustment.Finally,a prototype was fabricated,and a test platform was built to conduct stiffness measurement tests.[Results]The results show that the adjustable range of the joint is 0-1.345×10^(6) N·mm/rad.The similarity between the test curve and the theoretical curve is 0.92,which verifies that the designed joint has good variable stiffness characteristics.
作者
樊志
邹光明
章居方
程耀
丁喆
FAN Zhi;ZOU Guangming;ZHANG Jufang;CHENG Yao;DING Zhe(Key Laboratory of Metallurgical Equipment and Control Technology,Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China)
出处
《机械传动》
北大核心
2026年第2期39-44,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金项目(52375119)
湖北省自然科学基金项目(2023AFB570)。
关键词
复合轮系
弹簧片
变刚度关节
运动学
刚度测量
Composite gear train
Spring plate
Variable stiffness joint
Kinematics
Stiffness measurement
