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可变刚度柔性机械臂的设计与实现
发表时间：2020-07-01 浏览量：2310 下载量：347
| 全部作者： | 李阳光，王晨升，杨 光，李彦江，敬学良，钱芷璇 |
| 作者单位： | 北京邮电大学自动化学院 |
| 摘 要： | 变刚度机械臂对人类生活与工业均有突出作用。为解决在复杂操作空间中机械臂的变刚度及连续性操作的问题，研究利用类似于胳膊弯曲时肱二头肌与肱三头肌拮抗运动的机理设计变刚度可连续操作型机械臂，其中超弹记忆合金丝和3D打印支撑盘作为机械臂结构，六个电机协同运动驱动机械臂的形状变化和刚度变化，钛镍形状记忆合金弹簧提供锁紧力进行变刚度控制，最终实现机械臂的形状变化、刚度控制来满足复杂空间的操作需求，实现了变刚度机械臂的连续性操作。 |
| 关 键 词： | 机械设计；变刚度；机械臂；钛镍记忆合金 |
| Title： | Design and implementation of variable stiffness flexible manipulator |
| Author： | LI Yangguang, WANG Chensheng, YANG Guang, LI Yanjiang, JING Xueliang, QIAN Zhixuan |
| Organization： | School of Automation, Beijing University of Posts and Telecommunications |
| Abstract： | Mechanical arm with variable stiffness has a prominent effect on human life and industry. In order to solve the problem of variable stiffness and continuous operation of a mechanical arm in a complex operating space, the mechanism of cephalic antagonism to motion, similar to the biceps and triceps brachii when the arm is bent, is used to design a continuous operating mechanical arm with variable stiffness in this paper. Super elastic memory alloy wires and 3D printed support disks are used as the mechanical arm structure. Six motors cooperate to drive the shape change and stiffness change of the mechanical arm. The titanium-nickel shape memory alloy spring provides locking force for variable stiffness control, and finally the shape change and stiffness control of the mechanical arm are realized to meet the operation requirements of complex spaces, thus realizing the continuous operation of the variable stiffness mechanical arm. |
| Key words： | mechanical design; variable stiffness; mechanical arm; titanium-nickel memory alloy |
| 发表期数： | 2020年6月第2期 |
| 引用格式： | 李阳光，王晨升，杨 光，等. 可变刚度柔性机械臂的设计与实现[J]. 中国科技论文在线精品论文，2020，13（2）：127-138. |
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