执行机构不同调刚方式研究  

Research on different stiffness adjustment methods of actuators

作　　者：李雪丽[1] 苏安婕 LI Xueli;SU Anjie(School of Mechanical and Electronic Engineering, Zhongyuan University of Technology, Zhengzhou 450007, China;Editorial Department of Journal, Zhongyuan University of Technology, Zhengzhou 450007,China)

机构地区：[1]中原工学院机电学院,河南郑州450007 [2]中原工学院学报编辑部,河南郑州450007

出　　处：《中原工学院学报》2020年第5期27-33,共7页Journal of Zhongyuan University of Technology

摘　　要：随着工业技术的发展,对工件加工过程中力的控制要求越来越严格。传统的刚性或柔性的执行机构无法同时保证运动时的高柔性和执行任务时的强度要求,越来越多的执行器被引入调刚机构。本文将这些执行器的调刚方式进行了分类,即利用力-变形量的非线性特征调整(不改变结构与材料特性)、调整结构和调整材料特性,并对其原理和特点分别进行了分析、总结,结果发现:利用力-变形量的非线性特征调整这一调刚方式在位移较小时精度高,但调刚时能耗也高;调整结构能够实现较好的控制性能和较低的环境要求,但机构一般较为庞大;调整材料控制性能好,结构简单且尺寸较小,但是对环境要求较为严格。With the development of industrial technology,the demand of force control in the process of workpiece processing is becoming more and more strict.The traditional rigid or flexible actuators can’t guarantee the high flexibility in motion and the strong stiffness in performing tasks at the same time.The stiffness adjustment mechanism has been introduced to more and more actuators.In this paper,the methods of adjusting the stiffness of these actuators are divided into three categories:adjusting through the nonlinear characteristics of force deformation(not changing the structure and material characteristics),adjusting the structure and adjusting the material characteristics.The principles and characteristics of the three categories are analyzed and summarized respectively.The conclusions are as follows:adjusting through the nonlinear characteristics of force deformation has high accuracy with the premise of small displacement,but also consumes high energy when adjusting stiffness;adjusting the structure can achieve better control performance and lower environmental requirements,but the mechanism is generally large;adjusting the material characteristics has good control performance,simple structure and small size,but is more strict with the environment.

关 键 词：变刚度 非线性 结构调整 材料性质调整 

分 类 号：TH122[机械工程—机械设计及理论]