可变刚度液压机械臂的设计与仿真  

Design and Simulation of Variable Stiffness Hydraulic Manipulator

作　　者：任利胜 蒋林[1] 潘孝越 田长斌 张燕飞 REN Li-sheng;JIANG Lin;PAN Xiao-yue;TIAN Chang-bin;ZHANG Yan-fei(Key Laboratory of Metallurgical Equipment and Its Control,Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,武汉430081

出　　处：《组合机床与自动化加工技术》2020年第7期151-154,158,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(61105086);湖北省自然科学基金面上项目(2018CFB626);武汉市应用基础前沿项目(2019010701011404)。

摘　　要：为提高机械臂的负载能力和安全性,设计了一种承载能力大、刚度可变的液压机械臂。首先介绍了液压关节的转角自伺服原理及变刚度自适应机制,结合液压转角自伺服关节和变刚度液压被动随动关节完成了机械臂的结构设计。然后运用蒙特卡洛方法求解了该机械臂工作空间,证明其符合正常使用要求。最后基于ADAMS对可变刚度液压机械臂进行了动力学仿真,仿真结果表明该机械臂在低刚度状态下的碰撞力相较于刚性机械臂降低了约60%,为后续的结构优化与精度控制提供了重要理论基础。In order to improve the load capacity and safety of the manipulator, a hydraulic manipulator with large load capacity and variable stiffness is designed. Firstly, the principle of angular servo of hydraulic joint and the adaptive mechanism of variable stiffness are introduced, and the structural design of mechanical arm is completed by combining hydraulic angular servo joint and hydraulic passive servo joint with variable stiffness. Then, the working space of the manipulator is solved by Monte Carlo method, and it is proved to meet the requirements of normal operation. Finally, the dynamic simulation of variable stiffness hydraulic manipulator is carried out based on ADAMS. The simulation results show that the impact force of the variable stiffness hydraulic manipulator under low stiffness state is reduced by about 60% compared with that of the rigid manipulator, which provides an important theoretical basis for subsequent structural optimization and precision control.

关 键 词：变刚度自适应 转角自伺服 液压机械臂 工作空间 动力学仿真 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]