[1]赵庆刚,黄丛,敬铮,等.一种被动三自由度变刚度柔性基座设计[J].机械与电子,2016,(06):76-80.
　ZHAO Qinggang,HUANG Cong,JING Zheng,et al.Design of a Passive 3 dof Variable Stiffness Flexible Base[J].Machinery & Electronics,2016,(06):76-80.
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一种被动三自由度变刚度柔性基座设计
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2016年06期
页码:
76-80
栏目:
智能工程
出版日期:
2016-06-25

文章信息/Info

Title:
Design of a Passive 3 dof Variable Stiffness Flexible Base
作者:
赵庆刚1; 黄丛2; 敬铮2; 张耀文1; 谢宗武1
（1.哈尔滨工业大学机器人技术与系统国家重点实验室，黑龙江 哈尔滨 150001；2.中国空间技术研究院载人航天总体部，北京 100094）
Author(s):
ZHAO Qinggang1;  HUANG Cong2;  JING Zheng2;  ZHANG Yaowen1;  XIE Zongwu1
(1.State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China；2.Institute of Manned Space System Engineering, Beijing 100094, China)
关键词:
柔性基座; 变刚度; 耦合
Keywords:
flexible base; variable stiffness; coupling
分类号:
TH122；TH128
文献标志码:
A
摘要:
在一些大型航天器上，为扩大机械臂的工作空间，往往采用宏微臂组合的方式。当微臂工作时，宏臂相当于微臂的柔性基座。针对这种宏微臂串联组合方式，设计一种被动三自由度来模拟宏臂，用于微臂的地面试验。柔性基座实现了三自由度之间的耦合，且采用不同的原理实现了三自由度方向刚度的可调性。对柔性基座进行了刚度特性分析，得到了其变形角度的刚度阵，并对其刚度阵进行了分析。为柔性基座机械臂的动力学研究提供了实验平台。
Abstract:
The macro-micro manipulator system is often used to expand the working space for some large spacecrafts. When the micro arm is working, the macro manipulator is equivalent to a flexible base of the micro manipulator. A passive 3 dof flexible base is designed to simulate the macro arm for use in the ground verification of the micro manipulator. The flexible base achieves the coupling of the three degrees of freedom and variable stiffness of the three degrees of freedom by using different principles. The stiffness matrix is obtained and analyzed by analyzing the stiffness characteristics of the flexible base. An experimental platform is provided for the dynamic study of the manipulator with flexible base.

参考文献/References:

[1]Heidi C. Schubert. Impedance control of flexible Macro/mimi manipulators[D].PaloAlto: Stanford University,2000.
[2]Davis C L, Lesieutre G A. An actively tuned solid-state vibration absorber using capacitive shunting of piezoelectric stiffness [J].Journal of Sound and Vibration,2000, 232(3): 601-617
[3]Yong C, Zimcik D G, Wickramasinghe V K, et al. Development of the smart spring for active vibration control of helicopter blades[J].Journal of Intelligent Material Systems and Structures, 2004, 15 (1): 37-47.
[4]Jafari A, Tsagarakis N G, Vanderborght B, et al. A novel actuator with adjustable stiffness (AwAS)[C]//Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. IEEE, 2010: 4201-4206.
[5]Jafari A, Tsagarakis N G, Caldwell D G. AwAS-II: A new actuator with adjustable stiffness based on the novel principle of adaptable pivot point and variable lever ratio[C]//Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011: 4638-4643.

备注/Memo

备注/Memo:
收稿日期：2016-04-27
作者简介： 赵庆刚（1991），男，山东青岛人，硕士研究生，研究方向为空间机器人技术；黄丛（1985），男，黑龙江齐齐哈尔人，工程师，研究方向为系统工程设计。
更新日期/Last Update: 2016-06-25