机械科学与技术2018，Vol.37Issue(2)：220-225,6.DOI:10.13433/j.cnki.1003-8728.2018.0209
含柔性运动副欠驱动机构的运动确定性研究
Certainty Research of the Motion of Under-actuated Mechanisms with Flexible Joints
摘要
Abstract
The kinematic and dynamic constraints of under-actuated mechanism is incomplete and its movement is uncertain.The elastic reaction of flexible joint involved in an under-actuated mechanism can compensate for the incompleteness of dynamic constraints to some extent,but the certainty of the motion still related to the initial state of the mechanism and the stiffness of the flexible joint.To solve this problem,taking a planar 2-DOF under-actuated mechanism with a flexible joint as an example,a numerical iterative algorithm is proposed to solve the kinematics and dynamics of the mechanism,the deterministic motion was obtained by solving the kinematics and dynamics equations.First,the kinematics model and dynamics model are established,then using MATLAB programming,the optimal stiffness range under different initial state are obtained.Finally,the fitted curve between optimal driving torque and spring stiffness are also obtained by analyzing multiple sets of data.关键词
柔性运动副/欠驱动机构/数值迭代算法/运动确定性Key words
flexible joint/under-actuated mechanism/iterative algorithm/deterministic motion分类
机械制造引用本文复制引用
杜春翠,张建军,杨高炜,李为民,李天宇..含柔性运动副欠驱动机构的运动确定性研究[J].机械科学与技术,2018,37(2):220-225,6.基金项目
国家自然科学基金项目(51175144)与河北省科技计划项目(15211829)资助 （51175144）
