气动变刚度绳驱柔性机械臂结构设计与刚度分析  

Structural Design and Stiffness Analysis of Flexible Pneumatic Cable-Driven Manipulator with Aerodynamic Variable Stiffness

作　　者：王昌辉 袁港 梁美 张龙[1] WANG Changhui;YUAN Gang;LIANG Mei;ZHANG Long(School of Elecromechanical and Automotve Engineening,Yantai University,Yantai 264005,China)

机构地区：[1]烟台大学机电汽车工程学院,山东烟台264005

出　　处：《烟台大学学报(自然科学与工程版)》2025年第2期233-238,共6页Journal of Yantai University(Natural Science and Engineering Edition)

基　　金：国家自然科学基金资助项目(62205280)。

摘　　要：针对绳驱柔性机械臂绳索拉力调节刚度范围小的问题,设计了气动变刚度二自由度关节,通过调节气压改变气囊对关节转轴的摩擦力,进而提高绳驱柔性机械臂刚度可调范围。建立了绳驱柔性机械臂的刚度模型,同时基于驱动绳索拉力解算气动关节的绳驱柔性机械臂刚度。最后,搭建了绳驱柔性机械臂刚度实验平台,验证了本文设计对扩展绳驱柔性机械臂刚度可调范围的有效性。To address the limited stiffness range in cable tension adjustment of cable-driven flexible manipulator,this paper presents the design of a two-degree of freedom joint with variable aerodynamic stiffness.By adjusting air pressure,the friction force exerted by an air bag on the joint’s rotating shaft was modified,expanding the adjustable stiffness range of the cable-driven flexible manipulator.A stiffness model for the manipulator was established,and its stiffness with pneumatic joints was calculated based on the tension of the driving cable.Finally,an experimental platform for the manipulator’s stiffness was constructed to verify the design’s effectiveness in extending the adjustable stiffness range of the cable-driven flexible manipulator.

关 键 词：绳驱机械臂 变刚度关节 气动变刚度 刚度调节 

分 类 号：TH122[机械工程—机械设计及理论]