含柔性运动副欠驱动机构的运动确定性研究  

Certainty Research of the Motion of Under-actuated Mechanisms with Flexible Joints

作　　者：杜春翠 张建军[1] 杨高炜[1] 李为民[1] 李天宇[1] 

机构地区：[1]河北工业大学,天津300130

出　　处：《机械科学与技术》2018年第2期220-225,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51175144);河北省科技计划项目(15211829)资助

摘　　要：欠驱动机构运动学和动力学约束不完整,机构运动具有不确定性,欠驱动机构引入柔性运动副后可利用其弹性反力一定程度上弥补动力学约束的不完整,但其运动的确定性仍与机构的初始状态和柔性运动副刚度有关。针对该问题,以含有柔性移动副的平面二自由度欠驱动机构为研究对象,提出一种运动学、动力学求解的数值迭代算法,力求通过求得运动和动力约束方程的确定解来研究该类机构的运动确定性。首先,建立机构的运动学、动力学模型,然后,利用MATLAB对该机构进行求解,得出了不同初始状态下机构能够实现确定运动的最佳刚度范围,最后,通过多组数据分析得出了最优驱动力矩与柔性移动副刚度之间的拟合曲线。The kinematic and dynamic constraints of under-actuated mechanism is incomplete and its movement is uncertain. The elastic reaction of flexible joint involved in an under-actuated mechanism can compensate for the incompleteness of dynamic constraints to some extent, but the certainty of the motion still related to the initial state of the mechanism and the stiffness of the flexible joint. To solve this problem, taking a planar 2-DOF under-actuated mechanism with a flexible joint as an example, a numerical iterative algorithm is proposed to solve the kinematics and dynamics of the mechanism, the deterministic motion was obtained by solving the kinematics and dynamics equations. First, the kinematics model and dynamics model are established, then using MATLAB programming, the optimal stiffness range under different initial state are obtained. Finally, the fitted curve between optimal driving torque and spring stiffness are also obtained by analyzing multiple sets of data.

关 键 词：柔性运动副 欠驱动机构 数值迭代算法 运动确定性 

分 类 号：TH112[机械工程—机械设计及理论]