Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness

Liu Rong; Zheng Zhizhen; Qin Huibin; Li Zhongyi; Bai Shaoping

doi:10.16578/j.issn.1004.2539.2022.12.008

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Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness

Design· Calculation | 更新时间：2023-01-06

- Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness
- Journal of Mechanical Transmission Vol. 46, Issue 12, Pages: 53-59(2022)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
  2.北京航空航天大学自动化科学与电气工程学院，北京 100191
  3.奥尔堡大学材料与制造系，丹麦奥尔堡 9220
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.12.008
  CLC：
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刘荣,郑智贞,秦慧斌等.变刚度柔性驱动机构的设计与性能分析[J].机械传动,2022,46(12):53-59.

Liu Rong,Zheng Zhizhen,Qin Huibin,et al.Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness[J].Journal of Mechanical Transmission,2022,46(12):53-59.
刘荣,郑智贞,秦慧斌等.变刚度柔性驱动机构的设计与性能分析[J].机械传动,2022,46(12):53-59. DOI： 10.16578/j.issn.1004.2539.2022.12.008.

Liu Rong,Zheng Zhizhen,Qin Huibin,et al.Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness[J].Journal of Mechanical Transmission,2022,46(12):53-59. DOI： 10.16578/j.issn.1004.2539.2022.12.008.

摘要

可控变刚度柔性驱动机构具有柔顺性高、环境适应性强以及人机协同性好的特点。基于零长度机架四杆机构的传动原理，提出了一种变刚度柔性驱动机构，通过改变弹性体性质、弹性元件缠绕方式或配置方案，实现变刚度调节控制。通过构型分析、结构设计，建立柔性驱动机构的刚度和转矩模型，揭示了柔性驱动机构的刚度行为；利用拉格朗日法建立柔性驱动机构的动力学模型，并通过平均刚度求解获得频率理论结果；建立虚拟样机进行运动仿真，揭示了其性能特点，同时验证了理论分析的正确性。与其他同类设计相比，该柔性驱动机构具有小型化、轻量化的特点，适用性强，可以作为单独模块使用，也可以应用集成在外骨骼系统中。

Abstract

Controllable variable stiffness compliant actuator mechanism has the characteristics of high compliance, high environmental adaptability and good man-machine interaction. The variable stiffness compliant actuator mechanism is based on the transmission principle of a four-bar linkage with a zero-length rack. The variable stiffness control can be realized by changing the properties and the winding mode of the elastomer, or the configuration scheme. Through configuration analysis and structure design, the stiffness and torque models of the compliant actuator mechanism are established to reveal its stiffness behavior. The Lagrangian method is used to establish the dynamic model of the compliant actuator mechanism, and the frequency theoretical results are obtained by solving the average stiffness. The virtual prototype is established to motion simulation, which reveals its performance characteristics and verifies the correctness of theoretical analysis. Compared with other similar designs, the compliant actuator mechanism proposed has the characteristics of miniaturization and lightweight with strong applicability. It can be used as a single module and integrated into the exoskeleton system.

关键词

变刚度柔性驱动机构可重构零长度机架四杆机构

Keywords

Variable stiffnessCompliant actuator mechanismReconfigurableFour-bar linkage with a zero-length rack

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