论文标题
一项关于2-DOF可变刚度机制的比较研究
A Comparative Study on 2-DOF Variable Stiffness Mechanisms
论文作者
论文摘要
基于可变刚度机制的概念，这项工作显示了多种此类机制。具体而言，提出了配备冗余执行器的2-DOF平行运动机器，并在驱动的接头中提出了非线性弹簧，并绘制了比较概述。因此，给出了所有机制的任务空间中的一般刚度公式。在固定的几何参数下，在包括所有运动溶液的设计上进行了任务空间刚度的优化。最后，引入了刚度度量，该指标允许对给定机理设计进行定量比较。这引起了工程师的设计指南，但也为将来的可变刚度机制应用显示了一个有趣的轮廓。
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are presented and a comparative overview is drawn. Accordingly, a general stiffness formulation in task space of all mechanisms is given. Under fixed geometric parameters, optimization of task space stiffness is carried out on the designs comprising all kinematic solutions. Finally, a stiffness metric is introduced that allows a quantitative comparison of the given mechanism designs. This gives rise to design guidelines for engineers but also shows an interesting outline for future applications of variable stiffness mechanisms.
