Design of a parallel compliance device with variable stiffness

被引：5

作者：

Zhao, Yong ^{[1
]}

Chen, Kunyong ^{[1
]}

Yu, Jue ^{[2
]}

Huang, Shunzhou ^{[3
]}

机构：

[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai Key Lab Digital Manufacture Thin Walled, Shanghai, Peoples R China

[2] Nanjing Res Inst Elect Technol, Nanjing, Peoples R China

[3] Shanghai Aerosp Equipment Manufacturer Co Ltd, Shanghai, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2021年 / 235卷 / 01期

基金：

美国国家科学基金会;

关键词：

Variable stiffness; parallel compliance device; electromagnetic spring; compliant axes; synthesis; ADJUSTABLE STIFFNESS; MINIMAL-REALIZATION; SPATIAL STIFFNESSES; ACTUATOR; MATRIX; DECOMPOSITION;

D O I：

10.1177/0954406220932596

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a parallel compliance device with variable translational stiffness properties. The variation of endpoint stiffness depends on the change of the spring stiffness in each limb. A synthesis algorithm for realizing the desired force compliance performance is built. Based on the proposed algorithm, a group of optimal spring stiffness can be derived. For the implementation of this device, an electromagnetic linear spring with current-controlled stiffness is developed. After testing the mechanical characteristics of the electromagnetic spring, a prototype of the parallel compliance device is built. The endpoint stiffness under different combinations of spring stiffness values is exhibited in the form of stiffness ellipsoids. A case is studied and verifies the ability of the presented compliance device to realize the desired endpoint stiffness. As the stiffness adjustment range of electromagnetic spring is limited, the bound of physically realizable stiffness of the presented compliance device is also discussed.

引用

页码：94 / 107

页数：14

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